From ec1db10e0beab8200d4367df18fc9b64e8cc594e Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Wed, 9 Sep 2026 12:24:05 +0900
Subject: [PATCH 1/9] Migrate DAVE to ROS 2 Lyrical and Gazebo Jetty

---
 .docker/jazzy.amd64.dockerfile                | 104 ---------
 .docker/jazzy.arm64v8.dockerfile              | 197 ----------------
 .docker/lyrical.amd64.dockerfile              |  60 +++++
 .docker/lyrical.arm64v8.dockerfile            | 214 ++++++++++++++++++
 .dockerignore                                 |   6 +
 .github/ISSUE_TEMPLATE/bug_report.md          |   2 +-
 .github/ISSUE_TEMPLATE/good-first-issue.md    |   2 +-
 .github/workflows/docker-amd64.yml            |  55 +++--
 .github/workflows/docker-arm64v8.yml          |  58 +++--
 .github/workflows/lint.yml                    |   2 +-
 README.md                                     |   7 +-
 dave_interfaces/CMakeLists.txt                |   2 -
 .../bluerov2_reconciled_path_control_ros2.md  |   4 +-
 extras/ardusub-ubuntu-install-local.sh        |  33 ++-
 extras/ardusub-ubuntu-install.sh              |  36 ++-
 extras/docker-arm64-entrypoint.sh             |  18 ++
 .../{dave.jazzy.repos => dave.lyrical.repos}  |   1 -
 ...all.sh => ros-lyrical-gz-jetty-install.sh} |  89 ++++----
 gazebo/dave_gz_model_plugins/CMakeLists.txt   |  37 +--
 gazebo/dave_gz_multibeam_sonar/README.md      |   2 +-
 .../multibeam_sonar/CMakeLists.txt            |  48 ++--
 .../multibeam_sonar_system/CMakeLists.txt     |  44 ++--
 gazebo/dave_gz_sensor_plugins/CMakeLists.txt  |  57 ++---
 gazebo/dave_gz_world_plugins/CMakeLists.txt   |  71 +++---
 gazebo/dave_ros_gz_plugins/CMakeLists.txt     |  62 ++---
 .../src/SphericalCoords.cc                    |  29 ++-
 26 files changed, 635 insertions(+), 605 deletions(-)
 delete mode 100644 .docker/jazzy.amd64.dockerfile
 delete mode 100644 .docker/jazzy.arm64v8.dockerfile
 create mode 100644 .docker/lyrical.amd64.dockerfile
 create mode 100644 .docker/lyrical.arm64v8.dockerfile
 create mode 100644 .dockerignore
 mode change 100644 => 100755 extras/ardusub-ubuntu-install-local.sh
 mode change 100644 => 100755 extras/ardusub-ubuntu-install.sh
 create mode 100755 extras/docker-arm64-entrypoint.sh
 rename extras/repos/{dave.jazzy.repos => dave.lyrical.repos} (99%)
 rename extras/{ros-jazzy-gz-harmonic-install.sh => ros-lyrical-gz-jetty-install.sh} (62%)
 mode change 100644 => 100755

diff --git a/.docker/jazzy.amd64.dockerfile b/.docker/jazzy.amd64.dockerfile
deleted file mode 100644
index 74b04c3e..00000000
--- a/.docker/jazzy.amd64.dockerfile
+++ /dev/null
@@ -1,104 +0,0 @@
-ARG ROS_DISTRO="jazzy"
-FROM osrf/ros:$ROS_DISTRO-desktop-full
-ARG BRANCH="ros2"
-
-# Install Utilities
-# hadolint ignore=DL3008
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-    sudo xterm init systemd snapd vim net-tools \
-    curl wget git build-essential cmake cppcheck \
-    gnupg libeigen3-dev libgles2-mesa-dev \
-    lsb-release pkg-config protobuf-compiler \
-    python3-dbg python3-pip python3-venv python3-pexpect \
-    python-is-python3 python3-future python3-wxgtk4.0 \
-    qtbase5-dev ruby dirmngr gnupg2 nano xauth \
-    software-properties-common htop libtool \
-    x11-apps mesa-utils bison flex automake \
-    && rm -rf /var/lib/apt/lists/
-
-# Locale for UTF-8
-RUN truncate -s0 /tmp/preseed.cfg && \
-   (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
-   (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
-   debconf-set-selections /tmp/preseed.cfg && \
-   rm -f /etc/timezone && \
-   dpkg-reconfigure -f noninteractive tzdata
-# hadolint ignore=DL3008
-RUN apt-get update && \
-    apt-get -y install --no-install-recommends locales tzdata \
-    && rm -rf /tmp/*
-RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-    export LANG=en_US.UTF-8
-
-# Install ROS-Gazebo framework (including ardusub and mavros)
-ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
-RUN bash install.sh
-
-# Expose ArduSub and Gazebo paths to non-interactive container commands. The installer
-# adds the same paths through a shell startup file, so remove that hook to avoid duplicates.
-RUN sed -i '\|^source \$HOME/.ros_ardusub_env/env$|d' /root/.bashrc
-ENV PATH="/opt/ardusub_ws/ardupilot/Tools/autotest:/opt/ardusub_ws/ardupilot/build/sitl/bin:${PATH}"
-ENV GEOGRAPHICLIB_GEOID_PATH="/usr/share/GeographicLib/geoids"
-ENV GZ_SIM_SYSTEM_PLUGIN_PATH="/opt/ardusub_ws/ardupilot_gazebo/build"
-ENV GZ_SIM_RESOURCE_PATH="/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds"
-
-# Install QGroundControl
-RUN mkdir -p /opt/QGC && cd /opt/QGC && wget -O /opt/QGC/QGroundControl-x86_64.AppImage \
-    "https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage" && \
-    chmod +x QGroundControl-x86_64.AppImage && \
-    ./QGroundControl-x86_64.AppImage --appimage-extract && \
-    mv squashfs-root/* /opt/QGC/ && rm QGroundControl-x86_64.AppImage && \
-    ln -sf /opt/QGC/AppRun /usr/local/bin/qgroundcontrol
-
-# Install Firefox from Mozilla (aarch64 tarball)
-RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64&lang=en-US" \
-        -o /tmp/firefox.tar.xz && \
-    mkdir -p /opt/firefox && \
-    tar -xJf /tmp/firefox.tar.xz -C /opt && \
-    ln -sf /opt/firefox/firefox /usr/local/bin/firefox && \
-    rm -f /tmp/firefox.tar.xz
-
-# Set up Dave workspace
-ENV DAVE_WS=/opt/dave_ws
-WORKDIR $DAVE_WS/src
-
-ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/repos/dave.$ROS_DISTRO.repos $DAVE_WS/dave.repos
-RUN vcs import --shallow --input $DAVE_WS/dave.repos
-
-# Install dave dependencies
-RUN apt-get update && rosdep update && \
-    rosdep install -iy --from-paths . && \
-    rm -rf /var/lib/apt/lists/
-
-# Compile Dave
-WORKDIR $DAVE_WS
-RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
-    colcon build --symlink-install
-WORKDIR /
-
-# Set up bashrc for root
-RUN echo "source $DAVE_WS/install/setup.bash" >> /root/.bashrc && \
-    echo "export PS1='\[\e[1;36m\]\u@DAVE_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /root/.bashrc
-
-RUN touch /root/.dave_entrypoint && printf '\033[1;36m =====\n' >> /root/.dave_entrypoint && \
-    printf '  ____    ___     _______      _                     _   _      \n' >> /root/.dave_entrypoint && \
-    printf ' |  _ \  / \ \   / | ____|    / \   __ _ _   _  __ _| |_(_) ___ \n' >> /root/.dave_entrypoint && \
-    printf ' | | | |/ _ \ \ / /|  _|     / _ \ / _` | | | |/ _` | __| |/ __|\n' >> /root/.dave_entrypoint && \
-    printf ' | |_| / ___ \ V / | |___   / ___ | (_| | |_| | (_| | |_| | (__ \n' >> /root/.dave_entrypoint && \
-    printf ' |____/_/   \_\_/  |_____| /_/   \_\__, |\__,_|\__,_|\__|_|\___|\n' >> /root/.dave_entrypoint && \
-    printf ' __     ___      _               _     _____            _       \n' >> /root/.dave_entrypoint && \
-    printf ' \ \   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n' >> /root/.dave_entrypoint && \
-    printf '  \ \ / /| | `__| __| | | |/ _` | |   |  _| | `_ \ \ / | | `__| \n' >> /root/.dave_entrypoint && \
-    printf '   \ V / | | |  | |_| |_| | (_| | |   | |___| | | \ V /| | |_   \n' >> /root/.dave_entrypoint && \
-    printf '    \_/  |_|_|   \__|\__,_|\__,_|_|   |_____|_| |_|\_/ |_|_(_)  \n\033[0m' >> /root/.dave_entrypoint && \
-    printf '\033[1;32m\n =====\n\033[0m' >> /root/.dave_entrypoint && \
-    printf "\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m" \
-    >> /root/.dave_entrypoint && \
-    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\\033[0m" \
-    >> /root/.dave_entrypoint && \
-    echo 'cat /root/.dave_entrypoint' >> /root/.bashrc
-
-WORKDIR /root
diff --git a/.docker/jazzy.arm64v8.dockerfile b/.docker/jazzy.arm64v8.dockerfile
deleted file mode 100644
index e7782004..00000000
--- a/.docker/jazzy.arm64v8.dockerfile
+++ /dev/null
@@ -1,197 +0,0 @@
-# FROM arm64v8/ubuntu:24.04
-# # Set RDP and SSH environments
-# ARG X11Forwarding=true
-# # hadolint ignore=DL3008,DL3015,DL3009
-# RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
-#         apt-get install -y ubuntu-desktop-minimal dbus-x11 xrdp sudo; \
-#     [ $X11Forwarding = 'true' ] && apt-get install -y openssh-server; \
-#     apt-get autoremove --purge; \
-#     apt-get clean; \
-#     rm /run/reboot-required*
-
-# ARG USER=docker
-# ARG PASS=docker
-
-# RUN useradd -s /bin/bash -m $USER -p "$(openssl passwd "$PASS")"; \
-#     usermod -aG sudo $USER; echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers; \
-#     adduser xrdp ssl-cert; \
-#     # Setting the required environment variables
-#     echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
-#     echo 'export GNOME_SHELL_SESSION_MODE=ubuntu' > /home/$USER/.xsessionrc; \
-#     echo 'export XDG_CURRENT_DESKTOP=ubuntu:GNOME' >> /home/$USER/.xsessionrc; \
-#     echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
-#     # Enabling log to the stdout
-#     sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
-#     # Disabling system animations and reducing the
-#     # image quality to improve the performance
-#     sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
-#     gsettings set org.gnome.desktop.interface enable-animations true; \
-#     # Listening on wildcard address for X forwarding
-#     [ $X11Forwarding = 'true' ] && \
-#         sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
-#         sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
-#         :;
-
-# # Disable initial welcome window
-# RUN echo "X-GNOME-Autostart-enabled=false" >> /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
-
-# # Install basics
-# ENV DEBIAN_FRONTEND noninteractive
-# ENV DEBCONF_NONINTERACTIVE_SEEN=true
-# # hadolint ignore=DL3008
-# RUN apt-get update && \
-#     apt-get install -y --no-install-recommends \
-#     sudo xterm init systemd snapd vim net-tools \
-#     curl wget git build-essential cmake cppcheck \
-#     gnupg libeigen3-dev libgles2-mesa-dev \
-#     lsb-release pkg-config protobuf-compiler \
-#     python3-dbg python3-pip python3-venv \
-#     qtbase5-dev ruby dirmngr gnupg2 nano xauth \
-#     software-properties-common htop libtool \
-#     x11-apps mesa-utils bison flex automake && \
-#     rm -rf /var/lib/apt/lists/
-
-# Locale for UTF-8
-# RUN truncate -s0 /tmp/preseed.cfg && \
-#    (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
-#    (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
-#    debconf-set-selections /tmp/preseed.cfg && \
-#    rm -f /etc/timezone && \
-#    dpkg-reconfigure -f noninteractive tzdata
-# # hadolint ignore=DL3008
-# RUN apt-get update && \
-#     apt-get -y install --no-install-recommends locales tzdata \
-#     && rm -rf /tmp/*
-# RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-#     export LANG=en_US.UTF-8
-
-# # Run
-# EXPOSE 3389/tcp
-# EXPOSE 22/tcp
-# # hadolint ignore=DL3025
-# CMD sudo rm -f /var/run/xrdp/xrdp*.pid >/dev/null 2>&1; \
-#     sudo service dbus restart >/dev/null 2>&1; \
-#     sudo /usr/lib/systemd/systemd-logind >/dev/null 2>&1 & \
-#     [ -f /usr/sbin/sshd ] && sudo /usr/sbin/sshd; \
-#     sudo xrdp-sesman --config /etc/xrdp/sesman.ini; \
-#     sudo xrdp --nodaemon --config /etc/xrdp/xrdp.ini
-
-# Using the pre-built image for above commented out dockerfile code lines
-# hadolint ignore=DL3007
-FROM woensugchoi/ubuntu-arm-rdp-base:latest
-ARG USER=docker
-
-# ROS-Gazebo arg
-ARG BRANCH="ros2"
-ARG ROS_DISTRO="jazzy"
-
-# Update OS
-RUN apt update && apt full-upgrade -y && apt autoremove -y
-
-# Install ROS-Gazebo framework (including ardusub and mavros)
-ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
-RUN sudo bash install.sh
-
-# Download the background image from GitHub raw content URL
-# hadolint ignore=DL3047
-RUN wget -O /usr/share/backgrounds/custom-background.png -q \
-    https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/background.png && \
-    mv /usr/share/backgrounds/warty-final-ubuntu.png \
-        /usr/share/backgrounds/warty-final-ubuntu.png.bak && \
-    mv /usr/share/backgrounds/custom-background.png \
-        /usr/share/backgrounds/warty-final-ubuntu.png && \
-    cp /usr/share/backgrounds/warty-final-ubuntu.png \
-        /usr/share/backgrounds/ubuntu-wallpaper-d.png
-
-# Install QGroundControl
-RUN usermod -aG dialout "$(id -un)" && apt -y remove modemmanager
-RUN apt-get -q update && \
-    apt-get install -y --no-install-recommends \
-    ffmpeg python3-venv python3-websockets \
-    ros-${ROS_DISTRO}-joy-linux gstreamer1.0-tools gstreamer1.0-plugins-base \
-    gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly python3-gi python3-gst-1.0 \
-    libfuse2 libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev gstreamer1.0-qt6 \
-    gstreamer1.0-gl libqt6qml6 qml6-module-qtquick qml6-module-qtquick-window && \
-     rm -rf /var/lib/apt/lists/*
-USER docker
-RUN mkdir ~/QGC && wget -O ~/QGC/QGroundControl-aarch64-DailyBuild.AppImage \
-    "https://d176tv9ibo4jno.cloudfront.net/builds/master/QGroundControl-aarch64.AppImage" && \
-    cd ~/QGC && chmod +x QGroundControl-aarch64-DailyBuild.AppImage && \
-    cd ~/QGC && ./QGroundControl-aarch64-DailyBuild.AppImage --appimage-extract && \
-    mv ~/QGC/squashfs-root/* ~/QGC/. && rm ~/QGC/QGroundControl-aarch64-DailyBuild.AppImage && \
-    mkdir -p /home/$USER/.local/bin && \
-    ln -sf /home/$USER/QGC/AppRun /home/$USER/.local/bin/qgroundcontrol
-
-# Install Firefox from Mozilla (aarch64 tarball)
-RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64-aarch64&lang=en-US" \
-        -o /tmp/firefox.tar.xz && \
-    tar -xJf /tmp/firefox.tar.xz -C /home/$USER && \
-    ln -sf /home/$USER/firefox/firefox /home/$USER/.local/bin/firefox && \
-    rm -f /tmp/firefox.tar.xz
-
-# Set up Dave workspace
-ENV DAVE_UNDERLAY=/home/$USER/dave_ws
-WORKDIR $DAVE_UNDERLAY/src
-RUN wget -O /home/$USER/dave_ws/dave.repos -q https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/repos/dave.$ROS_DISTRO.repos
-RUN vcs import --shallow --input "/home/$USER/dave_ws/dave.repos"
-
-# hadolint ignore=DL3027
-RUN rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --rosdistro $ROS_DISTRO -iy --from-paths .
-
-# Build dave workspace
-WORKDIR $DAVE_UNDERLAY
-RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && colcon build --symlink-install
-
-# Set User as user
-USER docker
-RUN echo "source $DAVE_UNDERLAY/install/setup.bash" >> ~/.bashrc && \
-    echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
-    echo "export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
-    echo "export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
-    echo "export GEOGRAPHICLIB_GEOID_PATH=/usr/share/GeographicLib/geoids" >> ~/.bashrc && \
-    echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
-    echo "export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc && \
-    echo "export GST_PLUGIN_PATH=/usr/lib/aarch64-linux-gnu/gstreamer-1.0:\$GST_PLUGIN_PATH" >> ~/.bashrc && \
-    echo "export QML2_IMPORT_PATH=/usr/lib/aarch64-linux-gnu/qt6/qml:\$QML2_IMPORT_PATH" >> ~/.bashrc && \
-    echo "export LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu:\$LD_LIBRARY_PATH" >> ~/.bashrc && \
-    echo "\n" >> ~/.bashrc && echo "if [ -d ~/HOST ]; then chown $USER:$USER ~/HOST; fi" >> ~/.bashrc  && \
-    echo "export PS1='\[\e[1;36m\]\u@DAVE_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >>  ~/.bashrc
-
-# Other environment variables
-RUN echo "export XDG_RUNTIME_DIR=~/.xdg_log" >> ~/.bashrc && \
-    echo "unset SESSION_MANAGER" >> ~/.bashrc
-
-# Create and write the welcome message to a new file
-RUN mkdir -p /home/docker/.config/autostart && \
-    printf '\033[1;36m =====\n' >> ~/.hi && \
-    printf '  ____    ___     _______      _                     _   _      \n' >> ~/.hi && \
-    printf ' |  _ \  / \ \   / | ____|    / \   __ _ _   _  __ _| |_(_) ___ \n' >> ~/.hi && \
-    printf ' | | | |/ _ \ \ / /|  _|     / _ \ / _` | | | |/ _` | __| |/ __|\n' >> ~/.hi && \
-    printf ' | |_| / ___ \ V / | |___   / ___ | (_| | |_| | (_| | |_| | (__ \n' >> ~/.hi && \
-    printf ' |____/_/   \_\_/  |_____| /_/   \_\__, |\__,_|\__,_|\__|_|\___|\n' >> ~/.hi && \
-    printf ' __     ___      _               _     _____            _       \n' >> ~/.hi && \
-    printf ' \ \   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n' >> ~/.hi && \
-    printf '  \ \ / /| | `__| __| | | |/ _` | |   |  _| | `_ \ \ / | | `__| \n' >> ~/.hi && \
-    printf '   \ V / | | |  | |_| |_| | (_| | |   | |___| | | \ V /| | |_   \n' >> ~/.hi && \
-    printf '    \_/  |_|_|   \__|\__,_|\__,_|_|   |_____|_| |_|\_/ |_|_(_)  \n\033[0m' >> ~/.hi && \
-    printf '\033[1;32m\n =====\n\033[0m' >> ~/.hi && \
-    printf "\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m" \
-    >> ~/.hi && \
-    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\n\\033[0m" \
-    >> ~/.hi
-
-# Remove sudo message
-RUN touch /home/docker/.sudo_as_admin_successful
-
-# Autostart terminal
-# hadolint ignore=SC3037
-RUN echo "[Desktop Entry]\nType=Application" \
-    > /home/docker/.config/autostart/terminal.desktop && \
-    echo "Exec=gnome-terminal -- bash -c 'cat ~/.hi; exec bash'" \
-    >> /home/docker/.config/autostart/terminal.desktop && \
-    echo -e "X-GNOME-Autostart-enabled=true" \
-    >> /home/docker/.config/autostart/terminal.desktop
diff --git a/.docker/lyrical.amd64.dockerfile b/.docker/lyrical.amd64.dockerfile
new file mode 100644
index 00000000..61a2ae87
--- /dev/null
+++ b/.docker/lyrical.amd64.dockerfile
@@ -0,0 +1,60 @@
+ARG ROS_DISTRO="lyrical"
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
+
+ARG ROS_DISTRO="lyrical"
+ENV ROS_DISTRO=${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# The installer expects sudo even when the image build runs as root.
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo ca-certificates xz-utils && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install ROS 2 Lyrical, Gazebo Jetty, ArduSub, and MAVROS from this checkout.
+COPY extras /tmp/dave-extras
+RUN DAVE_EXTRAS_DIR=/tmp/dave-extras \
+    bash /tmp/dave-extras/ros-lyrical-gz-jetty-install.sh
+
+# Install QGroundControl.
+RUN mkdir -p /opt/QGC && cd /opt/QGC && \
+    wget -O QGroundControl-x86_64.AppImage \
+      "https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage" && \
+    chmod +x QGroundControl-x86_64.AppImage && \
+    ./QGroundControl-x86_64.AppImage --appimage-extract && \
+    mv squashfs-root/* /opt/QGC/ && \
+    rm QGroundControl-x86_64.AppImage && \
+    ln -sf /opt/QGC/AppRun /usr/local/bin/qgroundcontrol
+
+# Install Firefox from Mozilla.
+RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64&lang=en-US" \
+      -o /tmp/firefox.tar.xz && \
+    tar -xJf /tmp/firefox.tar.xz -C /opt && \
+    ln -sf /opt/firefox/firefox /usr/local/bin/firefox && \
+    rm -f /tmp/firefox.tar.xz
+
+# Build the exact DAVE revision supplied as the Docker build context. Import the
+# companion repositories, but never replace the checked-out DAVE source.
+ENV DAVE_WS=/opt/dave_ws
+WORKDIR $DAVE_WS/src
+COPY . dave
+RUN vcs import --shallow --skip-existing \
+      --input dave/extras/repos/dave.lyrical.repos
+
+RUN rosdep update --rosdistro "$ROS_DISTRO" && \
+    rosdep install --rosdistro "$ROS_DISTRO" -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/*
+
+WORKDIR $DAVE_WS
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build --merge-install --executor sequential --symlink-install
+
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
+    echo "source $DAVE_WS/install/setup.bash" >> /root/.bashrc && \
+    echo "export PS1='\[\e[1;36m\]\u@DAVE_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /root/.bashrc
+
+RUN touch /root/.dave_entrypoint && \
+    printf '\033[1;36mDAVE underwater robotics simulation\033[0m\n' >> /root/.dave_entrypoint && \
+    printf '\033[1;33mROS 2 Lyrical · Gazebo Jetty · ArduSub · MAVROS\033[0m\n\n' >> /root/.dave_entrypoint && \
+    echo 'cat /root/.dave_entrypoint' >> /root/.bashrc
+
+WORKDIR /root
diff --git a/.docker/lyrical.arm64v8.dockerfile b/.docker/lyrical.arm64v8.dockerfile
new file mode 100644
index 00000000..833ef044
--- /dev/null
+++ b/.docker/lyrical.arm64v8.dockerfile
@@ -0,0 +1,214 @@
+# DAVE development image for ROS 2 Lyrical / Gazebo Jetty on ARM64.
+# Validated on Apple Silicon with Ubuntu 26.04, XFCE, and xrdp.
+#
+# Design notes:
+# - FROM arm64v8/ubuntu:26.04 directly instead of a prebuilt personal base image — the RDP/xrdp
+#   setup below is the adapted version of what that base image contained, plus the xrdp
+#   group-permission fix required by the verified Apple Silicon build.
+# - ROS_DISTRO=lyrical; ros-lyrical-ros-gz supplies the Gazebo Jetty vendor packages.
+# - The current CUDA sonar remains disabled on ARM64; the open WGPU PR is intentionally excluded.
+# - ArduSub SITL includes the Python 3.14 compatibility shims validated on Ubuntu 26.04
+#   (imp/pipes modules, python-argparse removal, and PEP 668 handling).
+
+FROM arm64v8/ubuntu:26.04
+
+ARG USER=docker
+ARG PASS=docker
+ARG X11Forwarding=true
+
+# --- RDP / XFCE desktop setup ---
+# hadolint ignore=DL3008,DL3015,DL3009
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+        apt-get install -y --no-install-recommends \
+          dbus dbus-x11 xrdp xorgxrdp \
+          xfce4 xfce4-goodies xfce4-terminal xterm \
+          sudo openssl; \
+    [ $X11Forwarding = 'true' ] && apt-get install -y openssh-server; \
+    apt-get autoremove --purge; \
+    apt-get clean; \
+    rm -f /run/reboot-required*
+
+RUN useradd -s /bin/bash -m $USER && echo "$USER:$PASS" | chpasswd; \
+    usermod -aG sudo $USER; echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers; \
+    adduser xrdp ssl-cert; \
+    # xrdp daemon needs root-group access to session sockets under /run/xrdp/sockdir/ —
+    # without this, RDP connections time out after ~30s ("connection problem, giving up")
+    usermod -aG root xrdp; \
+    echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
+    echo 'export XDG_CURRENT_DESKTOP=XFCE' > /home/$USER/.xsessionrc; \
+    echo 'export XDG_SESSION_DESKTOP=xfce' >> /home/$USER/.xsessionrc; \
+    echo 'export DESKTOP_SESSION=xfce' >> /home/$USER/.xsessionrc; \
+    echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
+    sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
+    sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
+    [ $X11Forwarding = 'true' ] && \
+        sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
+        sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
+        :; \
+    chown $USER:$USER /home/$USER/.xsessionrc
+
+# Bypass the Debian Xsession wrapper. In a systemd-less container it can exit
+# before reaching ~/.xsession. Each RDP login gets its own DBus session.
+RUN printf '%s\n' \
+      '#!/bin/bash' \
+      'exec >>/home/docker/xrdp-startwm.log 2>&1' \
+      'export HOME=/home/docker' \
+      'export USER=docker' \
+      'export LOGNAME=docker' \
+      'export XDG_SESSION_TYPE=x11' \
+      'export XDG_CURRENT_DESKTOP=XFCE' \
+      'export XDG_SESSION_DESKTOP=xfce' \
+      'export DESKTOP_SESSION=xfce' \
+      'export XDG_RUNTIME_DIR="/run/user/$(id -u)"' \
+      'unset GNOME_SHELL_SESSION_MODE SESSION_MANAGER DBUS_SESSION_BUS_ADDRESS' \
+      'exec /usr/bin/dbus-run-session -- /usr/bin/startxfce4' \
+      > /etc/xrdp/startwm.sh && \
+    chmod 0755 /etc/xrdp/startwm.sh
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# hadolint ignore=DL3008
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    xterm vim net-tools \
+    curl wget git build-essential cmake cppcheck \
+    gnupg libeigen3-dev libgles2-mesa-dev \
+    lsb-release pkg-config protobuf-compiler \
+    python3-pip python3-venv \
+    nano xauth htop libtool \
+    x11-apps mesa-utils bison flex automake && \
+    rm -rf /var/lib/apt/lists/
+
+RUN truncate -s0 /tmp/preseed.cfg && \
+    (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
+    (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
+    debconf-set-selections /tmp/preseed.cfg && \
+    rm -f /etc/timezone && \
+    dpkg-reconfigure -f noninteractive tzdata
+RUN apt-get update && \
+    apt-get -y install --no-install-recommends locales tzdata && \
+    rm -rf /tmp/*
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+EXPOSE 3389/tcp
+EXPOSE 22/tcp
+
+# --- ROS 2 Lyrical + Gazebo Jetty ---
+ARG ROS_DISTRO="lyrical"
+
+RUN apt update && apt full-upgrade -y && apt autoremove -y
+
+# Gazebo Jetty is vendored by ros-lyrical-ros-gz on apt already — no separate Gazebo source build
+RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
+    curl -L -o /tmp/ros2-apt-source.deb \
+      "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" && \
+    dpkg -i /tmp/ros2-apt-source.deb && \
+    apt update && \
+    apt install -y --no-install-recommends \
+      ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-ros-gz \
+      python3-rosdep python3-vcstool python3-colcon-common-extensions
+
+# --- DAVE workspace ---
+# Build the exact checked-out revision supplied as the Docker build context.
+ENV DAVE_UNDERLAY=/home/$USER/dave_ws
+WORKDIR $DAVE_UNDERLAY/src
+COPY . dave
+RUN chown -R $USER:$USER $DAVE_UNDERLAY/src/dave
+
+# Keep the companion repositories from the official DAVE workspace, while
+# preserving the exact DAVE checkout copied above.
+RUN vcs import --shallow --skip-existing \
+      --input dave/extras/repos/dave.lyrical.repos && \
+    chown -R $USER:$USER $DAVE_UNDERLAY
+
+RUN rosdep init 2>/dev/null || true && rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --rosdistro $ROS_DISTRO -iy --from-paths .
+
+USER $USER
+WORKDIR $DAVE_UNDERLAY
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build --merge-install --executor sequential --symlink-install
+
+# --- ArduSub SITL (BlueROV2) — Python 3.14 compatibility shims required, see notes/ardusub-sitl-setup.md ---
+# Pinned to the commit used by the verified Ubuntu 26.04 / Python 3.14 build.
+USER root
+ARG ARDUSUB_COMMIT="30257f01185471ab4c1ac544e47d1b4437e44c98"
+WORKDIR /home/$USER
+RUN git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git && \
+    cd ardupilot && git fetch --tags && git checkout --detach "$ARDUSUB_COMMIT" && \
+    git submodule update --init --recursive
+
+RUN mkdir -p /home/$USER/imp_shim && \
+    printf 'import types\ndef new_module(name):\n    return types.ModuleType(name)\n' > /home/$USER/imp_shim/imp.py && \
+    printf 'import shlex\ndef quote(s):\n    return shlex.quote(s)\n' > /home/$USER/imp_shim/pipes.py
+
+ENV PYTHONPATH=/home/$USER/imp_shim:/home/$USER/ardupilot/modules/waf/waflib/extras
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+
+# chown first — the repo was cloned as root but must be built as $USER, and git refuses to
+# operate across ownership boundaries ("detected dubious ownership") since CVE-2022-24765
+RUN chown -R $USER:$USER /home/$USER/ardupilot /home/$USER/imp_shim && \
+    cd /home/$USER/ardupilot && \
+    sed -i "s/ python-argparse//g" Tools/environment_install/install-prereqs-ubuntu.sh && \
+    su $USER -c "git config --global --add safe.directory /home/$USER/ardupilot" && \
+    su $USER -c "cd /home/$USER/ardupilot && Tools/environment_install/install-prereqs-ubuntu.sh -y" && \
+    su $USER -c "cd /home/$USER/ardupilot && ./waf configure --board sitl && ./waf sub" && \
+    cp /home/$USER/ardupilot/build/sitl/bin/ardusub /usr/local/bin/ardusub
+
+# Build the Gazebo Jetty ArduPilot plugin against the ROS vendor packages.
+RUN git clone --depth 1 https://github.com/ArduPilot/ardupilot_gazebo.git \
+      /home/$USER/ardupilot_gazebo && \
+    chown -R $USER:$USER /home/$USER/ardupilot_gazebo && \
+    mkdir -p /home/$USER/ardupilot_gazebo/build && \
+    cd /home/$USER/ardupilot_gazebo/build && \
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && \
+    make -j2
+
+ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_gazebo/build
+ENV GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_gazebo/models:/home/$USER/ardupilot_gazebo/worlds
+
+# --- QGroundControl, Firefox, environment ---
+RUN usermod -aG dialout $USER && apt -y remove modemmanager || true
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    ffmpeg python3-venv python3-websockets \
+    ros-${ROS_DISTRO}-joy-linux ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-msgs \
+    gstreamer1.0-tools gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly python3-gi python3-gst-1.0 \
+    libfuse2 libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev gstreamer1.0-qt6 \
+    gstreamer1.0-gl libqt6qml6 qml6-module-qtquick qml6-module-qtquick-window && \
+    rm -rf /var/lib/apt/lists/*
+
+USER $USER
+RUN mkdir -p ~/QGC && wget -O ~/QGC/QGroundControl-aarch64-DailyBuild.AppImage \
+    "https://d176tv9ibo4jno.cloudfront.net/builds/master/QGroundControl-aarch64.AppImage" && \
+    cd ~/QGC && chmod +x QGroundControl-aarch64-DailyBuild.AppImage && \
+    ./QGroundControl-aarch64-DailyBuild.AppImage --appimage-extract && \
+    mv ~/QGC/squashfs-root/* ~/QGC/. && rm ~/QGC/QGroundControl-aarch64-DailyBuild.AppImage && \
+    mkdir -p /home/$USER/.local/bin && \
+    ln -sf /home/$USER/QGC/AppRun /home/$USER/.local/bin/qgroundcontrol
+
+# Install Firefox from Mozilla's ARM64 archive, matching the previous image.
+RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64-aarch64&lang=en-US" \
+      -o /tmp/firefox.tar.xz && \
+    tar -xJf /tmp/firefox.tar.xz -C /home/$USER && \
+    ln -sf /home/$USER/firefox/firefox /home/$USER/.local/bin/firefox && \
+    rm -f /tmp/firefox.tar.xz
+
+USER root
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc && \
+    echo "source $DAVE_UNDERLAY/install/setup.bash" >> /home/$USER/.bashrc && \
+    echo "export PATH=/home/$USER/.local/bin:/usr/local/bin:\$PATH" >> /home/$USER/.bashrc && \
+    echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_gazebo/build:\${GZ_SIM_SYSTEM_PLUGIN_PATH:-}" >> /home/$USER/.bashrc && \
+    echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_gazebo/models:/home/$USER/ardupilot_gazebo/worlds:\${GZ_SIM_RESOURCE_PATH:-}" >> /home/$USER/.bashrc && \
+    echo "export GEOGRAPHICLIB_GEOID_PATH=/usr/share/GeographicLib/geoids" >> /home/$USER/.bashrc && \
+    echo "export GST_PLUGIN_PATH=/usr/lib/aarch64-linux-gnu/gstreamer-1.0:\${GST_PLUGIN_PATH:-}" >> /home/$USER/.bashrc && \
+    echo "export QML2_IMPORT_PATH=/usr/lib/aarch64-linux-gnu/qt6/qml:\${QML2_IMPORT_PATH:-}" >> /home/$USER/.bashrc && \
+    echo "export LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu:\${LD_LIBRARY_PATH:-}" >> /home/$USER/.bashrc && \
+    echo "export PS1='\[\e[1;36m\]\u@lyrical_docker\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /home/$USER/.bashrc
+
+# --- Run (no systemd inside this container) ---
+COPY extras/docker-arm64-entrypoint.sh /usr/local/bin/dave-rdp-entrypoint
+RUN chmod 0755 /usr/local/bin/dave-rdp-entrypoint
+CMD ["/usr/local/bin/dave-rdp-entrypoint"]
diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000..f6eb6176
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,6 @@
+.git
+build
+install
+log
+*.pptx
+*.pdf
diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
index 812af5d8..d8ba78be 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -25,7 +25,7 @@ If applicable, add screenshots to help explain your problem.
 
 **Environment (please complete the following information):**
  - Machine [e.g. Mac VMWare, Linux Ubuntu]
- - OS Version: [e.g. Ubuntu 24.04]
+ - OS Version: [e.g. Ubuntu 26.04]
 - Anything that may be unusual about your environment
 
 **Additional context**
diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md
index e852bd9b..fdd34583 100644
--- a/.github/ISSUE_TEMPLATE/good-first-issue.md
+++ b/.github/ISSUE_TEMPLATE/good-first-issue.md
@@ -28,7 +28,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
 
-- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/jazzy/Tutorials/Workspace/Creating-A-Workspace.html)
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/lyrical/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace.html)
 
 - [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ros2_ws/src/dave`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `dave` folder before cloning your own fork)
 
diff --git a/.github/workflows/docker-amd64.yml b/.github/workflows/docker-amd64.yml
index dfb43bea..17c96db0 100644
--- a/.github/workflows/docker-amd64.yml
+++ b/.github/workflows/docker-amd64.yml
@@ -1,22 +1,35 @@
 ---
-name: Publish a Docker image (AMD64; Common X86_64 Linux Machine)
+name: Build Lyrical / Jetty Docker image (AMD64)
 
 # yamllint disable-line rule:truthy
 on:
+  workflow_dispatch:
+  pull_request:
+    branches: [ros2]
+    paths:
+      - ".docker/**"
+      - ".dockerignore"
+      - ".github/workflows/docker-amd64.yml"
+      - "dave_interfaces/**"
+      - "examples/**"
+      - "extras/**"
+      - "gazebo/**"
+      - "models/**"
+      - "README.md"
   push:
     tags: ["*"]
-    branches:
-      - ros2
-      - dockertest
+    branches: [ros2, dockertest]
 
 env:
-  IMAGE_NAME: ${{ github.repository }}
-  ROS_DISTRO: jazzy
-  BRANCH: ${{ github.ref_name }}
+  IMAGE_NAME: ioeslab/dave
+  ROS_DISTRO: lyrical
 
 jobs:
   build-and-push-to-docker-hub:
-    # runs-on: ubuntu-latest
+    # Never execute untrusted fork code on a self-hosted runner.
+    if: >-
+      github.event_name != 'pull_request' ||
+      github.event.pull_request.head.repo.full_name == github.repository
     runs-on: [self-hosted, x64]
     timeout-minutes: 1440
     permissions:
@@ -24,42 +37,38 @@ jobs:
       packages: write
 
     steps:
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Log in to the Docker Hub Container registry
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to Docker Hub
+        if: github.event_name != 'pull_request'
         uses: docker/login-action@v4
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Docker meta
+      - name: Docker metadata
         id: meta
         uses: docker/metadata-action@v5
         with:
-          images: ioeslab/dave
+          images: ${{ env.IMAGE_NAME }}
           tags: |
             type=ref,event=branch
+            type=ref,event=pr
             type=semver,pattern={{version}}
             type=semver,pattern={{major}}.{{minor}}
 
-      - name: Build and push Docker image
+      - name: Build Docker image
         uses: docker/build-push-action@v5
         with:
           context: .
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
-          file: .docker/jazzy.amd64.dockerfile
+          file: .docker/lyrical.amd64.dockerfile
           platforms: linux/amd64
           build-args: |
             ROS_DISTRO=${{ env.ROS_DISTRO }}
-            BRANCH=${{ env.BRANCH }}
-
-      - name: Debug environment variables
-        run: |
-          echo "ROS_DISTRO: ${ROS_DISTRO}"
-          echo "BRANCH: ${BRANCH}"
diff --git a/.github/workflows/docker-arm64v8.yml b/.github/workflows/docker-arm64v8.yml
index c3f02c64..f581b797 100644
--- a/.github/workflows/docker-arm64v8.yml
+++ b/.github/workflows/docker-arm64v8.yml
@@ -1,22 +1,35 @@
 ---
-name: Publish a Docker image (ARM64; Apple Silicon)
+name: Build Lyrical / Jetty Docker image (ARM64)
 
 # yamllint disable-line rule:truthy
 on:
+  workflow_dispatch:
+  pull_request:
+    branches: [ros2]
+    paths:
+      - ".docker/**"
+      - ".dockerignore"
+      - ".github/workflows/docker-arm64v8.yml"
+      - "dave_interfaces/**"
+      - "examples/**"
+      - "extras/**"
+      - "gazebo/**"
+      - "models/**"
+      - "README.md"
   push:
     tags: ["*"]
-    branches:
-      - ros2
-      - dockertest
+    branches: [ros2, dockertest]
 
 env:
-  IMAGE_NAME: ${{ github.repository }}
-  ROS_DISTRO: jazzy
-  BRANCH: ${{ github.ref_name }}
+  IMAGE_NAME: ioeslab/dave
+  ROS_DISTRO: lyrical
 
 jobs:
   build-and-push-to-docker-hub:
-    # runs-on: ubuntu-latest
+    # Never execute untrusted fork code on a self-hosted runner.
+    if: >-
+      github.event_name != 'pull_request' ||
+      github.event.pull_request.head.repo.full_name == github.repository
     runs-on: [self-hosted, ARM64]
     timeout-minutes: 1440
     permissions:
@@ -24,39 +37,36 @@ jobs:
       packages: write
 
     steps:
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Log in to the Docker Hub Container registry
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to Docker Hub
+        if: github.event_name != 'pull_request'
         uses: docker/login-action@v4
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Docker meta
+      - name: Docker metadata
         id: meta
         uses: docker/metadata-action@v5
         with:
-          images: ioeslab/dave
-          tags: ros2-arm-rdp
+          images: ${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=ros2-arm-rdp,enable=${{ github.event_name != 'pull_request' }}
+            type=ref,event=pr
 
-      - name: Build and push Docker image
+      - name: Build Docker image
         uses: docker/build-push-action@v5
         with:
           context: .
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
-          file: .docker/jazzy.arm64v8.dockerfile
+          file: .docker/lyrical.arm64v8.dockerfile
           platforms: linux/arm64/v8
           build-args: |
             ROS_DISTRO=${{ env.ROS_DISTRO }}
-            BRANCH=${{ env.BRANCH }}
-
-      - name: Debug environment variables
-        run: |
-          echo "ROS_DISTRO: ${ROS_DISTRO}"
-          echo "BRANCH: ${BRANCH}"
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 1684173c..677c35bc 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -14,7 +14,7 @@ jobs:
   #   ament_lint:
   #     runs-on: ubuntu-latest
   #     container:
-  #       image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-desktop-latest
+  #       image: rostooling/setup-ros-docker:ubuntu-resolute-ros-lyrical-desktop-latest
   #       options: -u root
   #     strategy:
   #       fail-fast: false
diff --git a/README.md b/README.md
index 0a66e49a..d9ef3ca0 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,11 @@
 # DAVE
 
-[![Publish a Docker image (AMD64; Common X86_64 Linux Machine)](https://github.com/IOES-Lab/dave/actions/workflows/docker-amd64.yml/badge.svg)](https://github.com/IOES-Lab/dave/actions/workflows/docker-amd64.yml)
-[![Publish a Docker image (ARM64; Apple Silicon)](https://github.com/IOES-Lab/dave/actions/workflows/docker-arm64v8.yml/badge.svg?branch=ros2)](https://github.com/IOES-Lab/dave/actions/workflows/docker-arm64v8.yml)
+[![Publish Lyrical / Jetty Docker image (AMD64)](https://github.com/IOES-Lab/dave/actions/workflows/docker-amd64.yml/badge.svg?branch=ros2)](https://github.com/IOES-Lab/dave/actions/workflows/docker-amd64.yml)
+[![Publish Lyrical / Jetty Docker image (ARM64)](https://github.com/IOES-Lab/dave/actions/workflows/docker-arm64v8.yml/badge.svg?branch=ros2)](https://github.com/IOES-Lab/dave/actions/workflows/docker-arm64v8.yml)
 
 Documentation is currently at [http://dave-ros2.notion.site](http://dave-ros2.notion.site)
 
+The current `ros2` stack targets **ROS 2 Lyrical on Ubuntu 26.04** and
+**Gazebo Jetty** (provided through the ROS `ros_gz` vendor packages).
+
 For contribution, do `pip3 install pre-commit && pre-commit install && pre-commit run --all-files` before commit.
diff --git a/dave_interfaces/CMakeLists.txt b/dave_interfaces/CMakeLists.txt
index 36eda427..56276f13 100644
--- a/dave_interfaces/CMakeLists.txt
+++ b/dave_interfaces/CMakeLists.txt
@@ -11,8 +11,6 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-find_package(gz-cmake3 REQUIRED)
-find_package(gz-msgs10 REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/UsblCommand.msg"
diff --git a/examples/community/bluerov2_reconciled_path_control_ros2.md b/examples/community/bluerov2_reconciled_path_control_ros2.md
index f1e25028..50402baa 100644
--- a/examples/community/bluerov2_reconciled_path_control_ros2.md
+++ b/examples/community/bluerov2_reconciled_path_control_ros2.md
@@ -6,8 +6,8 @@ for DAVE / Gazebo:
 [BlueROV2 reconciled path control](https://github.com/drwa92/bluerov2_reconciled_path_control_ros2)
 
 > [!NOTE]
-> This package is developed and released outside DAVE. ROS 2 Jazzy startup and package
-> discovery fixes found during DAVE validation are tracked in the
+> This package is developed and released outside DAVE. Startup and package-discovery
+> fixes found during DAVE validation are tracked in the
 > [external compatibility PR](https://github.com/drwa92/bluerov2_reconciled_path_control_ros2/pull/1).
 > Check that PR before following the external project's quick-start instructions.
 
diff --git a/extras/ardusub-ubuntu-install-local.sh b/extras/ardusub-ubuntu-install-local.sh
old mode 100644
new mode 100755
index 6da8c3f2..f5e4e762
--- a/extras/ardusub-ubuntu-install-local.sh
+++ b/extras/ardusub-ubuntu-install-local.sh
@@ -1,25 +1,36 @@
-#!/bin/bash
+#!/usr/bin/env bash
+set -euo pipefail
 
 # Source Ros and Gazebo
 # shellcheck source=/dev/null
-source /opt/ros/jazzy/setup.bash
+ROS_DISTRO="${ROS_DISTRO:-lyrical}"
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
 USER_NAME=$(logname 2>/dev/null || echo "${SUDO_USER:-$USER}")
 export USER="$USER_NAME"
 
-# Really should do version pinning but Sub-4.5 is waaaay behind master
-# (e.g. it doesn't know about "noble" yet)
-export ARDUPILOT_RELEASE=master
+ARDUPILOT_COMMIT="${ARDUPILOT_COMMIT:-30257f01185471ab4c1ac544e47d1b4437e44c98}"
 mkdir -p "/home/$USER/ardusub_ws" && cd "/home/$USER/ardusub_ws" || exit
-git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+cd "/home/$USER/ardusub_ws/ardupilot" || exit
+git checkout --detach "$ARDUPILOT_COMMIT"
+git submodule update --init --recursive
+
+mkdir -p "/home/$USER/ardusub_ws/python_compat"
+printf 'import types\ndef new_module(name):\n    return types.ModuleType(name)\n' \
+  > "/home/$USER/ardusub_ws/python_compat/imp.py"
+printf 'import shlex\ndef quote(value):\n    return shlex.quote(value)\n' \
+  > "/home/$USER/ardusub_ws/python_compat/pipes.py"
+export PYTHONPATH="/home/$USER/ardusub_ws/python_compat:/home/$USER/ardusub_ws/ardupilot/modules/waf/waflib/extras${PYTHONPATH:+:$PYTHONPATH}"
+export PIP_BREAK_SYSTEM_PACKAGES=1
 
 # Install ArduSub dependencies
-cd "/home/$USER/ardusub_ws/ardupilot" || exit
 export SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
 # Do not install the STM development tools
 export DO_AP_STM_ENV=0
 # Do not activate the Ardupilot venv by default
 export DO_PYTHON_VENV_ENV=0
+sed -i 's/ python-argparse//g' Tools/environment_install/install-prereqs-ubuntu.sh
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Build ArduSub
@@ -37,10 +48,10 @@ mkdir -p "/home/$USER/ardusub_ws/ardupilot_gazebo/build" \
 cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2
 
 # Add results of ArduSub build
-export PATH=/home/$USER/ardusub_ws/ardupilot/build/sitl/bin:\$PATH
+export PATH=/home/$USER/ardusub_ws/ardupilot/build/sitl/bin:$PATH
 # Optional: add autotest to the PATH, helpful for running sim_vehicle.py
-export PATH=/home/$USER/ardusub_ws/ardupilot/Tools/autotest:\$PATH
+export PATH=/home/$USER/ardusub_ws/ardupilot/Tools/autotest:$PATH
 # Add ardupilot_gazebo plugin
-export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}
 # Add ardupilot_gazebo models and worlds
-export GZ_SIM_RESOURCE_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/models:/home/$USER/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
\ No newline at end of file
+export GZ_SIM_RESOURCE_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/models:/home/$USER/ardusub_ws/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH:-}
diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
old mode 100644
new mode 100755
index 9a7d70cd..5374d9c5
--- a/extras/ardusub-ubuntu-install.sh
+++ b/extras/ardusub-ubuntu-install.sh
@@ -1,22 +1,36 @@
-#!/bin/bash
+#!/usr/bin/env bash
+set -euo pipefail
 
 # Source Ros and Gazebo
 # shellcheck source=/dev/null
-source /opt/ros/jazzy/setup.bash
+ROS_DISTRO="${ROS_DISTRO:-lyrical}"
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
-# Really should do version pinning but Sub-4.5 is waaaay behind master
-# (e.g. it doesn't know about "noble" yet)
-export ARDUPILOT_RELEASE=master
+# Commit used by the verified Lyrical / Python 3.14 build.
+ARDUPILOT_COMMIT="${ARDUPILOT_COMMIT:-30257f01185471ab4c1ac544e47d1b4437e44c98}"
 mkdir -p "/opt/ardusub_ws" && cd "/opt/ardusub_ws" || exit
-git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+cd "/opt/ardusub_ws/ardupilot" || exit
+git checkout --detach "$ARDUPILOT_COMMIT"
+git submodule update --init --recursive
+
+# ArduPilot's waf extras still import Python modules removed in 3.12/3.13.
+# These minimal compatibility shims were used in the verified Ubuntu 26.04 build.
+mkdir -p /opt/ardusub_ws/python_compat
+printf 'import types\ndef new_module(name):\n    return types.ModuleType(name)\n' \
+  > /opt/ardusub_ws/python_compat/imp.py
+printf 'import shlex\ndef quote(value):\n    return shlex.quote(value)\n' \
+  > /opt/ardusub_ws/python_compat/pipes.py
+export PYTHONPATH="/opt/ardusub_ws/python_compat:/opt/ardusub_ws/ardupilot/modules/waf/waflib/extras${PYTHONPATH:+:$PYTHONPATH}"
+export PIP_BREAK_SYSTEM_PACKAGES=1
 
 # Install ArduSub dependencies
-cd "/opt/ardusub_ws/ardupilot" || exit
 export SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
 # Do not install the STM development tools
 export DO_AP_STM_ENV=0
 # Do not activate the Ardupilot venv by default
 export DO_PYTHON_VENV_ENV=0
+sed -i 's/ python-argparse//g' Tools/environment_install/install-prereqs-ubuntu.sh
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Build ArduSub
@@ -34,10 +48,10 @@ mkdir -p "/opt/ardusub_ws/ardupilot_gazebo/build" \
 cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2
 
 # Add results of ArduSub build
-export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH
+export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:$PATH
 # Optional: add autotest to the PATH, helpful for running sim_vehicle.py
-export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH
+export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:$PATH
 # Add ardupilot_gazebo plugin
-export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}
 # Add ardupilot_gazebo models and worlds
-export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
\ No newline at end of file
+export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH:-}
diff --git a/extras/docker-arm64-entrypoint.sh b/extras/docker-arm64-entrypoint.sh
new file mode 100755
index 00000000..f9118f20
--- /dev/null
+++ b/extras/docker-arm64-entrypoint.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+uid="$(id -u docker)"
+install -d -m 0755 /run/xrdp /run/xrdp/sockdir
+install -d -m 0700 -o docker -g docker "/run/user/${uid}"
+rm -f /run/xrdp/*.pid /var/run/xrdp/*.pid
+
+mkdir -p /run/dbus
+rm -f /run/dbus/pid
+dbus-daemon --system --fork
+
+if [[ -x /usr/sbin/sshd ]]; then
+  /usr/sbin/sshd
+fi
+
+xrdp-sesman --nodaemon --config /etc/xrdp/sesman.ini &
+exec xrdp --nodaemon --config /etc/xrdp/xrdp.ini
diff --git a/extras/repos/dave.jazzy.repos b/extras/repos/dave.lyrical.repos
similarity index 99%
rename from extras/repos/dave.jazzy.repos
rename to extras/repos/dave.lyrical.repos
index 575954c9..0ccdf36e 100644
--- a/extras/repos/dave.jazzy.repos
+++ b/extras/repos/dave.lyrical.repos
@@ -13,4 +13,3 @@ repositories:
     type: git
     url: https://github.com/IOES-Lab/dave.git
     version: ros2
-
diff --git a/extras/ros-jazzy-gz-harmonic-install.sh b/extras/ros-lyrical-gz-jetty-install.sh
old mode 100644
new mode 100755
similarity index 62%
rename from extras/ros-jazzy-gz-harmonic-install.sh
rename to extras/ros-lyrical-gz-jetty-install.sh
index e2979095..8741b856
--- a/extras/ros-jazzy-gz-harmonic-install.sh
+++ b/extras/ros-lyrical-gz-jetty-install.sh
@@ -1,19 +1,24 @@
-#!/bin/bash
-# Script to install development tools and libraries for robotics and simulation
+#!/usr/bin/env bash
+# Install the ROS 2 Lyrical / Gazebo Jetty development stack used by DAVE.
+set -euo pipefail
+
+DIST="${ROS_DISTRO:-lyrical}"
 echo
 echo -e "\033[94m============================================================\033[0m"
 echo -e "\033[94m== One-liner Installation Script for ROS-Gazebo Framework ==\033[0m"
 echo -e "\033[94m============================================================\033[0m"
-echo -e "Requirements: Ubuntu 24.04 LTS Noble"
+echo -e "Target stack: ROS 2 Lyrical / Gazebo Jetty"
+echo -e "Requirements: Ubuntu 26.04 LTS Resolute"
 echo -e "\033[94m============================================================\033[0m"
 
 echo
-echo -e "\033[96m(1/4) -------------    Updating the System  ----------------\033[0m"
+echo -e "\033[96m(1/5) -------------    Updating the System  ----------------\033[0m"
 echo "Performing full system upgrade (this might take a while)..."
-sudo sudo apt update && apt full-upgrade -y
+sudo apt-get update
+sudo apt-get full-upgrade -y
 
 echo
-echo -e "\033[96m(2/4) ------------    Install Dependencies   ---------------\033[0m"
+echo -e "\033[96m(2/5) ------------    Install Dependencies   ---------------\033[0m"
 echo -e "\033[34mInstalling essential tools and libraries...\033[0m"
 sudo apt install -y \
     build-essential \
@@ -38,34 +43,26 @@ sudo apt install -y \
     wget
 
 echo
-echo -e "\033[96m(3/4) ------------    Install Package Keys   ---------------\033[0m"
-echo -e "\033[34mInstalling Signing Keys for ROS and Gazebo...\033[0m"
+echo -e "\033[96m(3/5) ------------    Install Package Keys   ---------------\033[0m"
+echo -e "\033[34mInstalling the ROS apt source...\033[0m"
 # Remove keyring if exists to avoid conflicts
 sudo rm -f /usr/share/keyrings/ros2-latest-archive-keyring.gpg && \
     sudo rm -rf /etc/apt/sources.list.d/ros2-latest.list
 # Get Keys
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
     -o /usr/share/keyrings/ros-archive-keyring.gpg
-sudo wget https://packages.osrfoundation.org/gazebo.gpg \
-    -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-
 sudo apt update && sudo apt install -y jq
-UBUNTU_CODENAME=noble && \
+UBUNTU_CODENAME="$(. /etc/os-release && echo "${UBUNTU_CODENAME:-${VERSION_CODENAME}}")" && \
     ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | jq -r '.tag_name') && \
     curl -L -o /tmp/ros2-apt-source.deb \
     "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.${UBUNTU_CODENAME}_all.deb" && \
     sudo apt-get install -y /tmp/ros2-apt-source.deb && \
     rm -f /tmp/ros2-apt-source.deb
 
-sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
 echo
-echo -e "\033[96m(4/4) ------------     Install ROS-Gazebo    ---------------\033[0m"
-DIST=jazzy
-GAZEBO=gz-harmonic
+echo -e "\033[96m(4/5) ------------     Install ROS-Gazebo    ---------------\033[0m"
 
-echo -e "\033[34mInstalling ROS Gazebo framework...\033[0m"
+echo -e "\033[34mInstalling ROS 2 ${DIST}; ros-${DIST}-ros-gz supplies Gazebo Jetty vendor packages...\033[0m"
 sudo apt update && sudo apt install -y \
     python3-rosdep \
     python3-catkin-pkg \
@@ -73,45 +70,39 @@ sudo apt update && sudo apt install -y \
     python3-colcon-core \
     python3-colcon-common-extensions \
     python3-vcstool \
-    $GAZEBO \
     ros-$DIST-desktop-full \
     ros-$DIST-ros-gz \
     ros-$DIST-gz-ros2-control \
-    ros-$DIST-effort-controllers \
-    ros-$DIST-geographic-info \
-    ros-$DIST-joint-state-publisher \
-    ros-$DIST-joy-teleop \
-    ros-$DIST-key-teleop \
-    ros-$DIST-moveit-planners \
-    ros-$DIST-moveit-simple-controller-manager \
-    ros-$DIST-moveit-ros-visualization \
-    ros-$DIST-robot-localization \
-    ros-$DIST-ros2-controllers \
-    ros-$DIST-teleop-tools \
-    ros-$DIST-urdfdom-py \
     ros-$DIST-marine-acoustic-msgs \
-    ros-dev-tools \
-    && rosdep init
+    ros-dev-tools
+
+sudo rosdep init 2>/dev/null || true
+rosdep update --rosdistro "$DIST"
 
 echo
-echo -e "\033[96m(4/4) ------------     Install Ardusub    ---------------\033[0m"
+echo -e "\033[96m(5/5) ------------     Install ArduSub       ---------------\033[0m"
 sudo apt update && sudo apt install -y \
-    libgz-sim8-dev rapidjson-dev libopencv-dev \
+    rapidjson-dev libopencv-dev \
     libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
     gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
     ffmpeg python3-venv python3-websockets \
     ros-${DIST}-joy-linux gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-base \
     gstreamer1.0-plugins-ugly python3-gi python3-gst-1.0 \
     libfuse2 libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev \
-    cython3 python3-dev python3-future python3-lxml
+    cython3 python3-dev python3-lxml
 
-# Install ardusub(local)
+# Install ArduSub. The helper sources the Lyrical environment so the
+# ardupilot_gazebo build resolves Jetty's vendored CMake packages.
 sudo mkdir -p /opt/ardusub_ws && cd /opt/ardusub_ws || exit
-sudo wget https://raw.githubusercontent.com/IOES-Lab/dave/ros2/extras/ardusub-ubuntu-install.sh
+if [[ -n "${DAVE_EXTRAS_DIR:-}" && -f "${DAVE_EXTRAS_DIR}/ardusub-ubuntu-install.sh" ]]; then
+    sudo cp "${DAVE_EXTRAS_DIR}/ardusub-ubuntu-install.sh" ./ardusub-ubuntu-install.sh
+else
+    sudo wget https://raw.githubusercontent.com/IOES-Lab/dave/ros2/extras/ardusub-ubuntu-install.sh
+fi
 sudo chmod +x ardusub-ubuntu-install.sh && sudo bash ./ardusub-ubuntu-install.sh
 
 # Mavros install
-sudo apt-get -y install ros-jazzy-mavros*
+sudo apt-get -y install "ros-${DIST}-mavros" "ros-${DIST}-mavros-msgs"
 sudo mkdir -p /opt/mavros_ws && cd /opt/mavros_ws || exit
 sudo wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
 sudo chmod +x install_geographiclib_datasets.sh && sudo bash ./install_geographiclib_datasets.sh
@@ -130,17 +121,17 @@ ENV_DIR="$TARGET_HOME/.ros_ardusub_env"
 ENV_FILE="$ENV_DIR/env"
 mkdir -p "$ENV_DIR"
 
-cat > "$ENV_FILE" <<'EOF'
-if [ -n "$ZSH_VERSION" ]; then
-    source /opt/ros/jazzy/setup.zsh
+cat > "$ENV_FILE" <<EOF
+if [ -n "\${ZSH_VERSION:-}" ]; then
+    source /opt/ros/${DIST}/setup.zsh
 else
-    source /opt/ros/jazzy/setup.bash
+    source /opt/ros/${DIST}/setup.bash
 fi
-export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:$PATH
-export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:$PATH
+export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH
+export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH
 export GEOGRAPHICLIB_GEOID_PATH=/usr/share/GeographicLib/geoids
-export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
-export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
+export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\${GZ_SIM_SYSTEM_PLUGIN_PATH:-}
+export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\${GZ_SIM_RESOURCE_PATH:-}
 EOF
 
 if ! grep -q "^source \$HOME/.ros_ardusub_env/env$" "$RC_FILE" 2>/dev/null; then
@@ -153,5 +144,5 @@ chown "$TARGET_USER:$TARGET_USER" "$RC_FILE" 2>/dev/null || true
 echo
 echo -e "\033[32m============================================================\033[0m"
 echo -e "\033[32mROS-Gazebo Framework (w mavros and Ardusub) Installation completed. Awesome! 🤘🚀 \033[0m"
-echo -e "You may check ROS, and Gazebo version installed with \033[33mprintenv ROS_DISTRO\033[0m and \033[33mecho \$GZ_VERSION\033[0m"
+echo -e "Check the installed stack with \033[33mprintenv ROS_DISTRO\033[0m and \033[33mgz sim --versions\033[0m"
 echo
diff --git a/gazebo/dave_gz_model_plugins/CMakeLists.txt b/gazebo/dave_gz_model_plugins/CMakeLists.txt
index 91d27666..e4be1cf3 100644
--- a/gazebo/dave_gz_model_plugins/CMakeLists.txt
+++ b/gazebo/dave_gz_model_plugins/CMakeLists.txt
@@ -3,26 +3,27 @@ project(dave_gz_model_plugins)
 
 # Find required packages
 find_package(ament_cmake REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system)
-find_package(gz-cmake3 REQUIRED)
-find_package(gz-plugin2 REQUIRED COMPONENTS register)
+find_package(tinyxml2 CONFIG REQUIRED)
+find_package(Boost REQUIRED)
+find_package(gz-cmake 5 REQUIRED)
+find_package(gz-plugin 4 REQUIRED COMPONENTS register)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(gz-common5 REQUIRED COMPONENTS profiler)
-find_package(gz-sim8 REQUIRED)
+find_package(gz-common 7 REQUIRED COMPONENTS profiler)
+find_package(gz-sim 10 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(dave_interfaces REQUIRED)
 find_package(Protobuf REQUIRED)
-find_package(gz-msgs10 REQUIRED)
+find_package(gz-msgs 12 REQUIRED)
 find_package(dave_gz_world_plugins REQUIRED)
 
 # Set version variables
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+set(GZ_PLUGIN_VER "")
+set(GZ_COMMON_VER "")
+set(GZ_SIM_VER "")
+set(GZ_MSGS_VER "")
 
-message(STATUS "Compiling against Gazebo Harmonic")
+message(STATUS "Compiling against Gazebo Jetty")
 
 add_library(OceanCurrentModelPlugin SHARED src/OceanCurrentModelPlugin.cc)
 
@@ -33,12 +34,14 @@ target_link_libraries(OceanCurrentModelPlugin
 )
 
 # Specify dependencies for ocean_current_plugin using ament_target_dependencies
-ament_target_dependencies(OceanCurrentModelPlugin
-  rclcpp
-  std_msgs
-  geometry_msgs
-  dave_interfaces
-  dave_gz_world_plugins
+target_link_libraries(OceanCurrentModelPlugin
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${dave_interfaces_TARGETS}
+  dave_gz_world_plugins::gauss_markov_process
+  dave_gz_world_plugins::tidal_oscillation
+  dave_gz_world_plugins::dave_gz_world_plugins-msgs
 )
 
 # Install targets
diff --git a/gazebo/dave_gz_multibeam_sonar/README.md b/gazebo/dave_gz_multibeam_sonar/README.md
index 98f62cec..da89591c 100644
--- a/gazebo/dave_gz_multibeam_sonar/README.md
+++ b/gazebo/dave_gz_multibeam_sonar/README.md
@@ -1,6 +1,6 @@
 # DAVE Multibeam Sonar Plugin
 
-The DAVE multibeam sonar plugin, adapted for ROS 2 Jazzy and Gazebo Harmonic, uses a ray-based multibeam model that simulates phase, reverberation, and speckle noise through a point scattering approach. It generates realistic intensity-range (A-plot) data while accounting for time and angular ambiguities as well as speckle noise.
+The DAVE multibeam sonar plugin, adapted for ROS 2 Lyrical and Gazebo Jetty, uses a ray-based multibeam model that simulates phase, reverberation, and speckle noise through a point scattering approach. It generates realistic intensity-range (A-plot) data while accounting for time and angular ambiguities as well as speckle noise.
 
 > **System Requirement**:
 > An **NVIDIA graphics card with CUDA compatibility** is required to use the sonar plugin. This enables GPU-accelerated simulation for real-time performance.
diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt
index c5a1d2d0..1f01ac18 100644
--- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt
+++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt
@@ -23,11 +23,13 @@ if(CUDAToolkit_FOUND)
   message(STATUS "CUDA found, enabling CUDA support.")
   include_directories(${CUDA_INCLUDE_DIRS})
   set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_${CUDA_ARCHITECTURE}")
-  find_package(gz-cmake3 REQUIRED)
-  find_package(gz-sim8 REQUIRED)
-  find_package(gz-sensors8 REQUIRED)
-  find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
-  find_package(gz-transport13 REQUIRED)
+  find_package(tinyxml2 CONFIG REQUIRED)
+  find_package(gz-cmake 5 REQUIRED)
+  find_package(gz-sim 10 REQUIRED)
+  find_package(gz-sensors 10 REQUIRED)
+  find_package(gz-rendering 10 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+  find_package(gz-transport 15 REQUIRED)
+  find_package(gz-msgs 12 REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(sensor_msgs REQUIRED)
   find_package(geometry_msgs REQUIRED)
@@ -36,21 +38,13 @@ if(CUDAToolkit_FOUND)
   find_package(marine_acoustic_msgs REQUIRED)
   find_package(cv_bridge REQUIRED)
 
-  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-  set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
-  set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
-  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-
-  if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre)
+  if(TARGET gz-rendering::ogre)
     set(HAVE_OGRE TRUE)
-    set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre)
     add_definitions(-DWITH_OGRE)
   endif()
 
-  if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2)
+  if(TARGET gz-rendering::ogre2)
     set(HAVE_OGRE2 TRUE)
-    set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2)
     add_definitions(-DWITH_OGRE2)
   endif()
 
@@ -67,12 +61,12 @@ if(CUDAToolkit_FOUND)
 
   target_include_directories(${PROJECT_NAME}
     PUBLIC
-    ${gz-sensors${GZ_SENSORS_VER}_INCLUDE_DIRS}
-    ${gz-rendering${GZ_RENDERING_VER}_INCLUDE_DIRS}
-    ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS}
+    ${gz-sensors_INCLUDE_DIRS}
+    ${gz-rendering_INCLUDE_DIRS}
+    ${gz-msgs_INCLUDE_DIRS}
     ${CUDA_INCLUDE_DIRS}
-    ${gz-transport${GZ_TRANSPORT_VER}_INCLUDE_DIRS}
-    ${gz-sim${GZ_SIM_VER}_INCLUDE_DIRS}
+    ${gz-transport_INCLUDE_DIRS}
+    ${gz-sim_INCLUDE_DIRS}
   )
 
   find_library(CUBLAS_LIB cublas
@@ -87,21 +81,25 @@ if(CUDAToolkit_FOUND)
   endif()
 
   target_link_libraries(${PROJECT_NAME}
+    gz-sim::gz-sim
+    gz-sensors::gz-sensors
+    gz-msgs::gz-msgs
+    gz-transport::gz-transport
+    gz-rendering::gz-rendering
     ${CUDA_LIBRARIES}
     ${CUDA_CUFFT_LIBRARIES}
     ${CUBLAS_LIB}
   )
 
+  if(TARGET gz-sensors::gz-sensors-rendering)
+    target_link_libraries(${PROJECT_NAME} gz-sensors::gz-sensors-rendering)
+  endif()
+
   install(TARGETS ${PROJECT_NAME}
     DESTINATION lib/${PROJECT_NAME}
   )
 
   ament_target_dependencies(${PROJECT_NAME}
-    gz-sensors${GZ_SENSORS_VER}
-    ${GZ_RENDERING_TARGET}
-    gz-msgs${GZ_MSGS_VER}
-    gz-transport${GZ_TRANSPORT_VER}
-    gz-sim${GZ_SIM_VER}
     rclcpp
     sensor_msgs
     rosidl_default_generators
diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt
index 7bdb72c5..a601f6a1 100644
--- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt
+++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt
@@ -5,28 +5,21 @@ find_package(ament_cmake REQUIRED)
 find_package(CUDAToolkit QUIET)
 
 if(CUDAToolkit_FOUND)
-  find_package(gz-cmake3 REQUIRED)
-  find_package(gz-common5 REQUIRED COMPONENTS profiler)
-  find_package(gz-plugin2 REQUIRED COMPONENTS register)
-  find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
-  find_package(gz-sim8 REQUIRED)
-  find_package(gz-sensors8 REQUIRED)
-
-  set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-  set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
-  set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
-
-  if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre)
+  find_package(tinyxml2 CONFIG REQUIRED)
+  find_package(gz-cmake 5 REQUIRED)
+  find_package(gz-common 7 REQUIRED COMPONENTS profiler)
+  find_package(gz-plugin 4 REQUIRED COMPONENTS register)
+  find_package(gz-rendering 10 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+  find_package(gz-sim 10 REQUIRED)
+  find_package(gz-sensors 10 REQUIRED)
+
+  if(TARGET gz-rendering::ogre)
     set(HAVE_OGRE TRUE)
-    set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre)
     add_definitions(-DWITH_OGRE)
   endif()
 
-  if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2)
+  if(TARGET gz-rendering::ogre2)
     set(HAVE_OGRE2 TRUE)
-    set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2)
     add_definitions(-DWITH_OGRE2)
   endif()
 
@@ -34,25 +27,16 @@ if(CUDAToolkit_FOUND)
 
   add_library(${PROJECT_NAME} SHARED MultibeamSonarSystem.cc)
   target_link_libraries(${PROJECT_NAME}
-      gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
-      gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-      gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-      gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
+      gz-common::gz-common
+      gz-plugin::gz-plugin
+      gz-sim::gz-sim
+      gz-sensors::gz-sensors
       multibeam_sonar
   )
   target_include_directories(${PROJECT_NAME}
     PUBLIC
       ../multibeam_sonar
   )
-
-  ament_target_dependencies(${PROJECT_NAME}
-    gz-common${GZ_COMMON_VER}
-    ${GZ_RENDERING_TARGET}
-    gz-plugin${GZ_PLUGIN_VER}
-    gz-sim${GZ_SIM_VER}
-    gz-sensors${GZ_SENSORS_VER}
-  )
-
   # Install targets
   install(TARGETS ${PROJECT_NAME}
     DESTINATION lib/${PROJECT_NAME}
diff --git a/gazebo/dave_gz_sensor_plugins/CMakeLists.txt b/gazebo/dave_gz_sensor_plugins/CMakeLists.txt
index 675fdcd6..06ee9345 100644
--- a/gazebo/dave_gz_sensor_plugins/CMakeLists.txt
+++ b/gazebo/dave_gz_sensor_plugins/CMakeLists.txt
@@ -3,28 +3,29 @@ project(dave_gz_sensor_plugins)
 
 # Find required packages
 find_package(ament_cmake REQUIRED)
-find_package(gz-cmake3 REQUIRED)
-find_package(gz-plugin2 REQUIRED COMPONENTS register)
+find_package(tinyxml2 CONFIG REQUIRED)
+find_package(gz-cmake 5 REQUIRED)
+find_package(gz-plugin 4 REQUIRED COMPONENTS register)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(gz-common5 REQUIRED COMPONENTS profiler)
-find_package(gz-sim8 REQUIRED)
+find_package(gz-common 7 REQUIRED COMPONENTS profiler)
+find_package(gz-sim 10 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(dave_interfaces REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(Protobuf REQUIRED)
-find_package(gz-msgs10 REQUIRED)
+find_package(gz-msgs 12 REQUIRED)
 find_package(OpenCV REQUIRED)
 
 # Set version variables
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+set(GZ_PLUGIN_VER "")
+set(GZ_COMMON_VER "")
+set(GZ_SIM_VER "")
+set(GZ_MSGS_VER "")
 
 include_directories(${OpenCV_INCLUDE_DIRS})
 
-message(STATUS "Compiling against Gazebo Harmonic")
+message(STATUS "Compiling against Gazebo Jetty")
 
 add_library(UsblTransceiver SHARED src/UsblTransceiver.cc)
 add_library(UsblTransponder SHARED src/UsblTransponder.cc)
@@ -54,30 +55,30 @@ target_link_libraries(UnderwaterCamera
 )
 
 # Specify dependencies for FullSystem using ament_target_dependencies
-ament_target_dependencies(UsblTransceiver
-  dave_interfaces
-  sensor_msgs
-  rclcpp
-  geometry_msgs
-  std_msgs
+target_link_libraries(UsblTransceiver
+  ${dave_interfaces_TARGETS}
+  ${sensor_msgs_TARGETS}
+  rclcpp::rclcpp
+  ${geometry_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
 
-ament_target_dependencies(UsblTransponder
-  dave_interfaces
-  rclcpp
-  std_msgs
+target_link_libraries(UsblTransponder
+  ${dave_interfaces_TARGETS}
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
 )
 
-ament_target_dependencies(sea_pressure_sensor
-  rclcpp
-  std_msgs
-  sensor_msgs
-  geometry_msgs
+target_link_libraries(sea_pressure_sensor
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
 )
 
-ament_target_dependencies(UnderwaterCamera
-  rclcpp
-  sensor_msgs
+target_link_libraries(UnderwaterCamera
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
 )
 
 # Install targets
diff --git a/gazebo/dave_gz_world_plugins/CMakeLists.txt b/gazebo/dave_gz_world_plugins/CMakeLists.txt
index 1d43d4d9..117cec47 100644
--- a/gazebo/dave_gz_world_plugins/CMakeLists.txt
+++ b/gazebo/dave_gz_world_plugins/CMakeLists.txt
@@ -10,29 +10,30 @@ add_compile_options(-Wno-psabi)
 add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
 
 find_package(ament_cmake REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system)
-find_package(gz-cmake3 REQUIRED)
-find_package(gz-plugin2 REQUIRED COMPONENTS register)
+find_package(tinyxml2 CONFIG REQUIRED)
+find_package(Boost REQUIRED)
+find_package(gz-cmake 5 REQUIRED)
+find_package(gz-plugin 4 REQUIRED COMPONENTS register)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(gz-common5 REQUIRED COMPONENTS profiler)
-find_package(gz-sim8 REQUIRED)
+find_package(gz-common 7 REQUIRED COMPONENTS profiler)
+find_package(gz-sim 10 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(dave_interfaces REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(Protobuf REQUIRED)
-find_package(gz-msgs10 REQUIRED)
+find_package(gz-msgs 12 REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
-# Set version variables with gazebo Harmonic
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-message(STATUS "compiling against Gazebo Harmonic")
+# Use the unversioned Gazebo Jetty vendor targets
+set(GZ_PLUGIN_VER "")
+set(GZ_COMMON_VER "")
+set(GZ_SIM_VER "")
+set(GZ_MSGS_VER "")
+message(STATUS "Compiling against Gazebo Jetty")
 
 # Define a variable 'GZ_MSGS_VER' holding the version number
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+set(GZ_MSGS_VER "")
 
 # Define a variable 'MSGS_PROTOS' listing the .proto files
 # cmake-lint: disable=C0301
@@ -94,27 +95,27 @@ target_link_libraries(tidal_oscillation
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
 )
 
-ament_target_dependencies(OceanCurrentWorldPlugin
-  rclcpp
-  std_msgs
-  geometry_msgs
-  dave_interfaces
-  ament_index_cpp
-  gz-msgs${GZ_MSGS_VER}
+target_link_libraries(OceanCurrentWorldPlugin
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${dave_interfaces_TARGETS}
+  ament_index_cpp::ament_index_cpp
+  gz-msgs::gz-msgs
 )
 
-ament_target_dependencies(gauss_markov_process
-  rclcpp
-  std_msgs
-  geometry_msgs
-  dave_interfaces
+target_link_libraries(gauss_markov_process
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${dave_interfaces_TARGETS}
 )
 
-ament_target_dependencies(tidal_oscillation
-  rclcpp
-  std_msgs
-  geometry_msgs
-  dave_interfaces
+target_link_libraries(tidal_oscillation
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${dave_interfaces_TARGETS}
 )
 
 # Install targets
@@ -139,11 +140,11 @@ install(DIRECTORY include/
 ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(
-  gz-cmake3
-  gz-plugin2
-  gz-msgs10
-  gz-common5
-  gz-sim8
+  gz-cmake
+  gz-plugin
+  gz-msgs
+  gz-common
+  gz-sim
   geometry_msgs
   sensor_msgs
   std_msgs
diff --git a/gazebo/dave_ros_gz_plugins/CMakeLists.txt b/gazebo/dave_ros_gz_plugins/CMakeLists.txt
index a3469b39..8e356488 100644
--- a/gazebo/dave_ros_gz_plugins/CMakeLists.txt
+++ b/gazebo/dave_ros_gz_plugins/CMakeLists.txt
@@ -3,23 +3,24 @@ project(dave_ros_gz_plugins)
 
 # Find required packages
 find_package(ament_cmake REQUIRED)
-find_package(gz-cmake3 REQUIRED)
-find_package(gz-plugin2 REQUIRED COMPONENTS register)
+find_package(tinyxml2 CONFIG REQUIRED)
+find_package(gz-cmake 5 REQUIRED)
+find_package(gz-plugin 4 REQUIRED COMPONENTS register)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(gz-common5 REQUIRED COMPONENTS profiler)
-find_package(gz-sim8 REQUIRED)
+find_package(gz-common 7 REQUIRED COMPONENTS profiler)
+find_package(gz-sim 10 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(dave_interfaces REQUIRED)
 find_package(dave_gz_world_plugins REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system)
+find_package(Boost REQUIRED)
 
 # Set version variables
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+set(GZ_PLUGIN_VER "")
+set(GZ_COMMON_VER "")
+set(GZ_SIM_VER "")
 
-message(STATUS "Compiling against Gazebo Harmonic")
+message(STATUS "Compiling against Gazebo Jetty")
 
 # Libraries
 add_library(SphericalCoords SHARED src/SphericalCoords.cc)
@@ -50,24 +51,27 @@ target_link_libraries(OceanCurrentPlugin
 )
 
 # Specify dependencies using ament_target_dependencies
-ament_target_dependencies(SphericalCoords
-  dave_interfaces
-  rclcpp
-  geometry_msgs
-  std_msgs
+target_link_libraries(SphericalCoords
+  ${dave_interfaces_TARGETS}
+  rclcpp::rclcpp
+  ${geometry_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
-ament_target_dependencies(DVLBridge
-  dave_interfaces
-  rclcpp
-  geometry_msgs
-  std_msgs
+target_link_libraries(DVLBridge
+  ${dave_interfaces_TARGETS}
+  rclcpp::rclcpp
+  ${geometry_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
-ament_target_dependencies(OceanCurrentPlugin
-  rclcpp
-  std_msgs
-  geometry_msgs
-  dave_interfaces
-  dave_gz_world_plugins
+target_link_libraries(OceanCurrentPlugin
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${dave_interfaces_TARGETS}
+  dave_gz_world_plugins::OceanCurrentWorldPlugin
+  dave_gz_world_plugins::gauss_markov_process
+  dave_gz_world_plugins::tidal_oscillation
+  dave_gz_world_plugins::dave_gz_world_plugins-msgs
 )
 
 # Install targets
@@ -93,10 +97,10 @@ install(
 ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(
-  gz-cmake3
-  gz-plugin2
-  gz-common5
-  gz-sim8
+  gz-cmake
+  gz-plugin
+  gz-common
+  gz-sim
   geometry_msgs
   std_msgs
   dave_interfaces
diff --git a/gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc b/gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc
index 2145a8d7..72aceed2 100644
--- a/gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc
+++ b/gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc
@@ -114,13 +114,20 @@ bool SphericalCoords::TransformFromSphericalCoord(
   const std::shared_ptr<dave_interfaces::srv::TransformFromSphericalCoord::Request> request,
   std::shared_ptr<dave_interfaces::srv::TransformFromSphericalCoord::Response> response)
 {
-  gz::math::Vector3d scVec =
-    gz::math::Vector3d(request->latitude_deg, request->longitude_deg, request->altitude);
+  gz::math::Angle lat, lon;
+  lat.SetDegree(request->latitude_deg);
+  lon.SetDegree(request->longitude_deg);
+  auto scVec = gz::math::CoordinateVector3::Spherical(lat, lon, request->altitude);
 
-  gzmsg << "Called FROM and latitude: " << scVec.X() << std::endl;
+  gzmsg << "Called FROM and latitude: " << request->latitude_deg << std::endl;
 
   auto coords = this->dataPtr->world.SphericalCoordinates(*this->dataPtr->ecm);
-  gz::math::Vector3d cartVec = coords->LocalFromSphericalPosition(scVec);
+  gz::math::Vector3d cartVec = gz::math::Vector3d::Zero;
+  auto cartOpt = coords->LocalFromSphericalPosition(scVec);
+  if (cartOpt && cartOpt->AsMetricVector())
+  {
+    cartVec = *cartOpt->AsMetricVector();
+  }
 
   response->output.x = cartVec.X();
   response->output.y = cartVec.Y();
@@ -133,17 +140,17 @@ bool SphericalCoords::TransformToSphericalCoord(
   const std::shared_ptr<dave_interfaces::srv::TransformToSphericalCoord::Request> request,
   std::shared_ptr<dave_interfaces::srv::TransformToSphericalCoord::Response> response)
 {
-  gz::math::Vector3d cartVec =
-    gz::math::Vector3d(request->input.x, request->input.y, request->input.z);
+  auto cartVec =
+    gz::math::CoordinateVector3::Metric(request->input.x, request->input.y, request->input.z);
 
-  gzmsg << "Called TO and X: " << cartVec.X() << std::endl;
+  gzmsg << "Called TO and X: " << request->input.x << std::endl;
 
   auto coords = this->dataPtr->world.SphericalCoordinates(*this->dataPtr->ecm);
-  gz::math::Vector3d scVec = coords->SphericalFromLocalPosition(cartVec);
+  auto scOpt = coords->SphericalFromLocalPosition(cartVec);
 
-  response->latitude_deg = scVec.X();
-  response->longitude_deg = scVec.Y();
-  response->altitude = scVec.Z();
+  response->latitude_deg = (scOpt && scOpt->Lat()) ? scOpt->Lat()->Degree() : 0.0;
+  response->longitude_deg = (scOpt && scOpt->Lon()) ? scOpt->Lon()->Degree() : 0.0;
+  response->altitude = (scOpt && scOpt->Z()) ? *scOpt->Z() : 0.0;
 
   return true;
 }

From d5b509467f72b5e8952d594556d47b255be6b46c Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Wed, 9 Sep 2026 12:28:00 +0900
Subject: [PATCH 2/9] Fix installer ShellCheck findings

---
 extras/ardusub-ubuntu-install-local.sh |  2 +-
 extras/ardusub-ubuntu-install.sh       |  2 +-
 extras/ros-lyrical-gz-jetty-install.sh | 16 +++++++++-------
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/extras/ardusub-ubuntu-install-local.sh b/extras/ardusub-ubuntu-install-local.sh
index f5e4e762..db9e8b6d 100755
--- a/extras/ardusub-ubuntu-install-local.sh
+++ b/extras/ardusub-ubuntu-install-local.sh
@@ -2,8 +2,8 @@
 set -euo pipefail
 
 # Source Ros and Gazebo
-# shellcheck source=/dev/null
 ROS_DISTRO="${ROS_DISTRO:-lyrical}"
+# shellcheck disable=SC1090
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
 USER_NAME=$(logname 2>/dev/null || echo "${SUDO_USER:-$USER}")
diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
index 5374d9c5..298cf69e 100755
--- a/extras/ardusub-ubuntu-install.sh
+++ b/extras/ardusub-ubuntu-install.sh
@@ -2,8 +2,8 @@
 set -euo pipefail
 
 # Source Ros and Gazebo
-# shellcheck source=/dev/null
 ROS_DISTRO="${ROS_DISTRO:-lyrical}"
+# shellcheck disable=SC1090
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
 # Commit used by the verified Lyrical / Python 3.14 build.
diff --git a/extras/ros-lyrical-gz-jetty-install.sh b/extras/ros-lyrical-gz-jetty-install.sh
index 8741b856..bff04db5 100755
--- a/extras/ros-lyrical-gz-jetty-install.sh
+++ b/extras/ros-lyrical-gz-jetty-install.sh
@@ -52,8 +52,10 @@ sudo rm -f /usr/share/keyrings/ros2-latest-archive-keyring.gpg && \
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
     -o /usr/share/keyrings/ros-archive-keyring.gpg
 sudo apt update && sudo apt install -y jq
-UBUNTU_CODENAME="$(. /etc/os-release && echo "${UBUNTU_CODENAME:-${VERSION_CODENAME}}")" && \
-    ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | jq -r '.tag_name') && \
+# shellcheck disable=SC1091
+. /etc/os-release
+UBUNTU_CODENAME="${UBUNTU_CODENAME:-${VERSION_CODENAME}}"
+ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | jq -r '.tag_name') && \
     curl -L -o /tmp/ros2-apt-source.deb \
     "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.${UBUNTU_CODENAME}_all.deb" && \
     sudo apt-get install -y /tmp/ros2-apt-source.deb && \
@@ -70,10 +72,10 @@ sudo apt update && sudo apt install -y \
     python3-colcon-core \
     python3-colcon-common-extensions \
     python3-vcstool \
-    ros-$DIST-desktop-full \
-    ros-$DIST-ros-gz \
-    ros-$DIST-gz-ros2-control \
-    ros-$DIST-marine-acoustic-msgs \
+    "ros-${DIST}-desktop-full" \
+    "ros-${DIST}-ros-gz" \
+    "ros-${DIST}-gz-ros2-control" \
+    "ros-${DIST}-marine-acoustic-msgs" \
     ros-dev-tools
 
 sudo rosdep init 2>/dev/null || true
@@ -86,7 +88,7 @@ sudo apt update && sudo apt install -y \
     libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
     gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
     ffmpeg python3-venv python3-websockets \
-    ros-${DIST}-joy-linux gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-base \
+    "ros-${DIST}-joy-linux" gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-base \
     gstreamer1.0-plugins-ugly python3-gi python3-gst-1.0 \
     libfuse2 libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev \
     cython3 python3-dev python3-lxml

From 4d0dec55478b817ed9f3d3d909b10fb705214dc2 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Wed, 9 Sep 2026 12:29:19 +0900
Subject: [PATCH 3/9] Run and deduplicate pull request CI

---
 .github/workflows/docker-amd64.yml   | 4 ++++
 .github/workflows/docker-arm64v8.yml | 4 ++++
 .github/workflows/lint.yml           | 2 +-
 3 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/docker-amd64.yml b/.github/workflows/docker-amd64.yml
index 17c96db0..c9382f67 100644
--- a/.github/workflows/docker-amd64.yml
+++ b/.github/workflows/docker-amd64.yml
@@ -24,6 +24,10 @@ env:
   IMAGE_NAME: ioeslab/dave
   ROS_DISTRO: lyrical
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-and-push-to-docker-hub:
     # Never execute untrusted fork code on a self-hosted runner.
diff --git a/.github/workflows/docker-arm64v8.yml b/.github/workflows/docker-arm64v8.yml
index f581b797..bc6d434a 100644
--- a/.github/workflows/docker-arm64v8.yml
+++ b/.github/workflows/docker-arm64v8.yml
@@ -24,6 +24,10 @@ env:
   IMAGE_NAME: ioeslab/dave
   ROS_DISTRO: lyrical
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-and-push-to-docker-hub:
     # Never execute untrusted fork code on a self-hosted runner.
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 677c35bc..d0bb4803 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -8,7 +8,7 @@ on:
     branches:
       - ros2
   pull_request:
-    types: [opened, reopened]
+    types: [opened, synchronize, reopened]
 
 jobs:
   #   ament_lint:

From 21773f60af8101612297e4a04aedd804748b143d Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Wed, 9 Sep 2026 12:45:43 +0900
Subject: [PATCH 4/9] Source ROS setup safely with nounset

---
 extras/ardusub-ubuntu-install-local.sh | 2 ++
 extras/ardusub-ubuntu-install.sh       | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/extras/ardusub-ubuntu-install-local.sh b/extras/ardusub-ubuntu-install-local.sh
index db9e8b6d..cb9ce927 100755
--- a/extras/ardusub-ubuntu-install-local.sh
+++ b/extras/ardusub-ubuntu-install-local.sh
@@ -3,8 +3,10 @@ set -euo pipefail
 
 # Source Ros and Gazebo
 ROS_DISTRO="${ROS_DISTRO:-lyrical}"
+set +u
 # shellcheck disable=SC1090
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
+set -u
 
 USER_NAME=$(logname 2>/dev/null || echo "${SUDO_USER:-$USER}")
 export USER="$USER_NAME"
diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
index 298cf69e..3d40e098 100755
--- a/extras/ardusub-ubuntu-install.sh
+++ b/extras/ardusub-ubuntu-install.sh
@@ -3,8 +3,10 @@ set -euo pipefail
 
 # Source Ros and Gazebo
 ROS_DISTRO="${ROS_DISTRO:-lyrical}"
+set +u
 # shellcheck disable=SC1090
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
+set -u
 
 # Commit used by the verified Lyrical / Python 3.14 build.
 ARDUPILOT_COMMIT="${ARDUPILOT_COMMIT:-30257f01185471ab4c1ac544e47d1b4437e44c98}"

From 3aaa1d7e56dc91df22713281b0bd9f19b9312ad1 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Wed, 9 Sep 2026 13:08:00 +0900
Subject: [PATCH 5/9] Allow containerized ArduSub prerequisite setup

---
 extras/ardusub-ubuntu-install.sh | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
index 3d40e098..676aa063 100755
--- a/extras/ardusub-ubuntu-install.sh
+++ b/extras/ardusub-ubuntu-install.sh
@@ -33,6 +33,12 @@ export DO_AP_STM_ENV=0
 # Do not activate the Ardupilot venv by default
 export DO_PYTHON_VENV_ENV=0
 sed -i 's/ python-argparse//g' Tools/environment_install/install-prereqs-ubuntu.sh
+# This system-wide helper is invoked by the root-owned Docker build. The pinned
+# ArduPilot prerequisite script rejects EUID 0 before using sudo for the same
+# package operations, so remove only that guard in this container installer.
+# shellcheck disable=SC2016
+sed -i '/^if \[ \$EUID == 0 \]; then$/,/^fi$/d' \
+  Tools/environment_install/install-prereqs-ubuntu.sh
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Build ArduSub

From a7ae2a422291b3f8cca984f0fafd0b4cbfdb2d54 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Wed, 9 Sep 2026 13:30:31 +0900
Subject: [PATCH 6/9] Complete ArduSub and Jetty installer migration

---
 .docker/lyrical.arm64v8.dockerfile     | 10 +++++++++-
 extras/ardusub-ubuntu-install-local.sh | 10 ++++++++--
 extras/ardusub-ubuntu-install.sh       | 11 +++++++++--
 extras/ros-lyrical-gz-jetty-install.sh |  6 +++++-
 4 files changed, 31 insertions(+), 6 deletions(-)

diff --git a/.docker/lyrical.arm64v8.dockerfile b/.docker/lyrical.arm64v8.dockerfile
index 833ef044..2f2d0a2d 100644
--- a/.docker/lyrical.arm64v8.dockerfile
+++ b/.docker/lyrical.arm64v8.dockerfile
@@ -95,6 +95,7 @@ EXPOSE 22/tcp
 
 # --- ROS 2 Lyrical + Gazebo Jetty ---
 ARG ROS_DISTRO="lyrical"
+ENV GZ_VERSION=jetty
 
 RUN apt update && apt full-upgrade -y && apt autoremove -y
 
@@ -133,6 +134,7 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
 # Pinned to the commit used by the verified Ubuntu 26.04 / Python 3.14 build.
 USER root
 ARG ARDUSUB_COMMIT="30257f01185471ab4c1ac544e47d1b4437e44c98"
+ARG ARDUPILOT_GAZEBO_COMMIT="082a0fe231f6e63bc8d1598f1cba461d9e2ea7f5"
 WORKDIR /home/$USER
 RUN git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git && \
     cd ardupilot && git fetch --tags && git checkout --detach "$ARDUSUB_COMMIT" && \
@@ -150,14 +152,20 @@ ENV PIP_BREAK_SYSTEM_PACKAGES=1
 RUN chown -R $USER:$USER /home/$USER/ardupilot /home/$USER/imp_shim && \
     cd /home/$USER/ardupilot && \
     sed -i "s/ python-argparse//g" Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i 's/-U pip setuptools wheel/-U pip "setuptools<80" wheel/' \
+      Tools/environment_install/install-prereqs-ubuntu.sh && \
     su $USER -c "git config --global --add safe.directory /home/$USER/ardupilot" && \
     su $USER -c "cd /home/$USER/ardupilot && Tools/environment_install/install-prereqs-ubuntu.sh -y" && \
-    su $USER -c "cd /home/$USER/ardupilot && ./waf configure --board sitl && ./waf sub" && \
+    su $USER -c "cd /home/$USER/ardupilot && python3 modules/waf/waf-light configure --board sitl" && \
+    su $USER -c "cd /home/$USER/ardupilot && python3 modules/waf/waf-light build --target bin/ardusub" && \
     cp /home/$USER/ardupilot/build/sitl/bin/ardusub /usr/local/bin/ardusub
 
 # Build the Gazebo Jetty ArduPilot plugin against the ROS vendor packages.
 RUN git clone --depth 1 https://github.com/ArduPilot/ardupilot_gazebo.git \
       /home/$USER/ardupilot_gazebo && \
+    cd /home/$USER/ardupilot_gazebo && \
+    git fetch --depth 1 origin "$ARDUPILOT_GAZEBO_COMMIT" && \
+    git checkout --detach "$ARDUPILOT_GAZEBO_COMMIT" && \
     chown -R $USER:$USER /home/$USER/ardupilot_gazebo && \
     mkdir -p /home/$USER/ardupilot_gazebo/build && \
     cd /home/$USER/ardupilot_gazebo/build && \
diff --git a/extras/ardusub-ubuntu-install-local.sh b/extras/ardusub-ubuntu-install-local.sh
index cb9ce927..2bbe4acf 100755
--- a/extras/ardusub-ubuntu-install-local.sh
+++ b/extras/ardusub-ubuntu-install-local.sh
@@ -7,11 +7,13 @@ set +u
 # shellcheck disable=SC1090
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
 set -u
+export GZ_VERSION="${GZ_VERSION:-jetty}"
 
 USER_NAME=$(logname 2>/dev/null || echo "${SUDO_USER:-$USER}")
 export USER="$USER_NAME"
 
 ARDUPILOT_COMMIT="${ARDUPILOT_COMMIT:-30257f01185471ab4c1ac544e47d1b4437e44c98}"
+ARDUPILOT_GAZEBO_COMMIT="${ARDUPILOT_GAZEBO_COMMIT:-082a0fe231f6e63bc8d1598f1cba461d9e2ea7f5}"
 mkdir -p "/home/$USER/ardusub_ws" && cd "/home/$USER/ardusub_ws" || exit
 git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
 cd "/home/$USER/ardusub_ws/ardupilot" || exit
@@ -33,15 +35,19 @@ export DO_AP_STM_ENV=0
 # Do not activate the Ardupilot venv by default
 export DO_PYTHON_VENV_ENV=0
 sed -i 's/ python-argparse//g' Tools/environment_install/install-prereqs-ubuntu.sh
+sed -i 's/-U pip setuptools wheel/-U pip "setuptools<80" wheel/' \
+  Tools/environment_install/install-prereqs-ubuntu.sh
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Build ArduSub
-modules/waf/waf-light configure --board sitl \
-  && modules/waf/waf-light build --target bin/ardusub
+python3 modules/waf/waf-light configure --board sitl
+python3 modules/waf/waf-light build --target bin/ardusub
 
 # Clone ardupilot_gazebo code
 cd "/home/$USER/ardusub_ws" || exit
 git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+cd "/home/$USER/ardusub_ws/ardupilot_gazebo" || exit
+git checkout --detach "$ARDUPILOT_GAZEBO_COMMIT"
 
 # Install ardupilot_gazebo plugin
 # Check if the directory creation was successful
diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
index 676aa063..25ac681d 100755
--- a/extras/ardusub-ubuntu-install.sh
+++ b/extras/ardusub-ubuntu-install.sh
@@ -7,9 +7,11 @@ set +u
 # shellcheck disable=SC1090
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
 set -u
+export GZ_VERSION="${GZ_VERSION:-jetty}"
 
 # Commit used by the verified Lyrical / Python 3.14 build.
 ARDUPILOT_COMMIT="${ARDUPILOT_COMMIT:-30257f01185471ab4c1ac544e47d1b4437e44c98}"
+ARDUPILOT_GAZEBO_COMMIT="${ARDUPILOT_GAZEBO_COMMIT:-082a0fe231f6e63bc8d1598f1cba461d9e2ea7f5}"
 mkdir -p "/opt/ardusub_ws" && cd "/opt/ardusub_ws" || exit
 git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
 cd "/opt/ardusub_ws/ardupilot" || exit
@@ -33,6 +35,9 @@ export DO_AP_STM_ENV=0
 # Do not activate the Ardupilot venv by default
 export DO_PYTHON_VENV_ENV=0
 sed -i 's/ python-argparse//g' Tools/environment_install/install-prereqs-ubuntu.sh
+# Keep the ROS 2 Lyrical colcon requirement (setuptools < 80) intact.
+sed -i 's/-U pip setuptools wheel/-U pip "setuptools<80" wheel/' \
+  Tools/environment_install/install-prereqs-ubuntu.sh
 # This system-wide helper is invoked by the root-owned Docker build. The pinned
 # ArduPilot prerequisite script rejects EUID 0 before using sudo for the same
 # package operations, so remove only that guard in this container installer.
@@ -42,12 +47,14 @@ sed -i '/^if \[ \$EUID == 0 \]; then$/,/^fi$/d' \
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Build ArduSub
-modules/waf/waf-light configure --board sitl \
-  && modules/waf/waf-light build --target bin/ardusub
+python3 modules/waf/waf-light configure --board sitl
+python3 modules/waf/waf-light build --target bin/ardusub
 
 # Clone ardupilot_gazebo code
 cd "/opt/ardusub_ws" || exit
 git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+cd "/opt/ardusub_ws/ardupilot_gazebo" || exit
+git checkout --detach "$ARDUPILOT_GAZEBO_COMMIT"
 
 # Install ardupilot_gazebo plugin
 # Check if the directory creation was successful
diff --git a/extras/ros-lyrical-gz-jetty-install.sh b/extras/ros-lyrical-gz-jetty-install.sh
index bff04db5..6f0eff6c 100755
--- a/extras/ros-lyrical-gz-jetty-install.sh
+++ b/extras/ros-lyrical-gz-jetty-install.sh
@@ -110,7 +110,10 @@ sudo wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts
 sudo chmod +x install_geographiclib_datasets.sh && sudo bash ./install_geographiclib_datasets.sh
 
 # Environment variables setup (write to ~/.dave/env and source from shell rc)
-TARGET_USER="${SUDO_USER:-$USER}"
+TARGET_USER="${SUDO_USER:-${USER:-}}"
+if [[ -z "$TARGET_USER" ]]; then
+    TARGET_USER="$(id -un)"
+fi
 TARGET_HOME="$(getent passwd "$TARGET_USER" | cut -d: -f6)"
 TARGET_SHELL="$(getent passwd "$TARGET_USER" | cut -d: -f7)"
 
@@ -132,6 +135,7 @@ fi
 export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH
 export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH
 export GEOGRAPHICLIB_GEOID_PATH=/usr/share/GeographicLib/geoids
+export GZ_VERSION=jetty
 export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\${GZ_SIM_SYSTEM_PLUGIN_PATH:-}
 export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\${GZ_SIM_RESOURCE_PATH:-}
 EOF

From 36cc99823c923f7f3c3dca8d12384de39ab51000 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Thu, 10 Sep 2026 17:03:53 +0900
Subject: [PATCH 7/9] ci: use native Docker driver on ARM64 runner

Signed-off-by: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
---
 .github/workflows/docker-arm64v8.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/docker-arm64v8.yml b/.github/workflows/docker-arm64v8.yml
index bc6d434a..8488b9b1 100644
--- a/.github/workflows/docker-arm64v8.yml
+++ b/.github/workflows/docker-arm64v8.yml
@@ -46,6 +46,12 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          # On a macOS launchd runner, the docker-container driver can try to
+          # open Docker Desktop's interactive Keychain credential helper.
+          # The native driver avoids that dependency for this single-platform
+          # ARM64 build and works with Docker Desktop's containerd image store.
+          driver: docker
 
       - name: Log in to Docker Hub
         if: github.event_name != 'pull_request'

From 68b7598fb72482e22c7b6be0cdf5d4e1763b0b07 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Thu, 10 Sep 2026 17:23:44 +0900
Subject: [PATCH 8/9] fix: add ARM64 ArduPilot GStreamer headers

---
 .docker/lyrical.arm64v8.dockerfile | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.docker/lyrical.arm64v8.dockerfile b/.docker/lyrical.arm64v8.dockerfile
index 2f2d0a2d..491b95e1 100644
--- a/.docker/lyrical.arm64v8.dockerfile
+++ b/.docker/lyrical.arm64v8.dockerfile
@@ -73,6 +73,7 @@ RUN apt-get update && \
     xterm vim net-tools \
     curl wget git build-essential cmake cppcheck \
     gnupg libeigen3-dev libgles2-mesa-dev \
+    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
     lsb-release pkg-config protobuf-compiler \
     python3-pip python3-venv \
     nano xauth htop libtool \

From 169018c780e833b23dd714f3b19ba22d15921c95 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Thu, 10 Sep 2026 22:02:28 +0900
Subject: [PATCH 9/9] fix: complete ARM64 tutorial runtime dependencies

Signed-off-by: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
---
 .docker/lyrical.arm64v8.dockerfile | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.docker/lyrical.arm64v8.dockerfile b/.docker/lyrical.arm64v8.dockerfile
index 491b95e1..a833ee72 100644
--- a/.docker/lyrical.arm64v8.dockerfile
+++ b/.docker/lyrical.arm64v8.dockerfile
@@ -108,6 +108,7 @@ RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-inf
     apt update && \
     apt install -y --no-install-recommends \
       ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-ros-gz \
+      ros-${ROS_DISTRO}-image-view \
       python3-rosdep python3-vcstool python3-colcon-common-extensions
 
 # --- DAVE workspace ---
@@ -187,6 +188,8 @@ RUN apt-get update && \
     gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly python3-gi python3-gst-1.0 \
     libfuse2 libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev gstreamer1.0-qt6 \
     gstreamer1.0-gl libqt6qml6 qml6-module-qtquick qml6-module-qtquick-window && \
+    /opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh && \
+    test -r /usr/share/GeographicLib/geoids/egm96-5.pgm && \
     rm -rf /var/lib/apt/lists/*
 
 USER $USER