diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile
index d362c8b2..8122286a 100644
--- a/.devcontainer/nouveau/Dockerfile
+++ b/.devcontainer/nouveau/Dockerfile
@@ -3,7 +3,7 @@ FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
-ENV USERNAME=blue
+ENV USERNAME=ubuntu
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 
diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
index 5dbcef35..bae72b58 100644
--- a/.devcontainer/nouveau/devcontainer.json
+++ b/.devcontainer/nouveau/devcontainer.json
@@ -3,8 +3,8 @@
   "dockerFile": "Dockerfile",
   "context": "../..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
-  "workspaceFolder": "/home/blue/ws_blue/src/blue",
-  "remoteUser": "blue",
+  "workspaceFolder": "/home/ubuntu/ws_blue/src/blue",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",
diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile
index 3135e7fa..1c55005d 100644
--- a/.devcontainer/nvidia/Dockerfile
+++ b/.devcontainer/nvidia/Dockerfile
@@ -3,7 +3,7 @@ FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
-ENV USERNAME=blue
+ENV USERNAME=ubuntu
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
index 9359454f..e58a5ed9 100644
--- a/.devcontainer/nvidia/devcontainer.json
+++ b/.devcontainer/nvidia/devcontainer.json
@@ -3,8 +3,8 @@
   "dockerFile": "Dockerfile",
   "context": "../..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
-  "workspaceFolder": "/home/blue/ws_blue/src/blue",
-  "remoteUser": "blue",
+  "workspaceFolder": "/home/ubuntu/ws_blue/src/blue",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 5a8289e3..034eb66a 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -18,6 +18,7 @@ RUN apt-get -q update \
     clang-tools \
     python3-pip \
     python3-dev \
+    python3-venv \
     lsb-release \
     wget \
     gnupg \
@@ -27,10 +28,11 @@ RUN apt-get -q update \
     && rm -rf /var/lib/apt/lists/*
 
 # Install all ROS dependencies
+#  Don't try to resolve "mavros" or "mavros_extras", we will install those manually
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="mavros mavros_extras" \
     && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \
@@ -39,13 +41,13 @@ RUN apt-get -q update \
 FROM ci as robot
 
 # Configure a new non-root user
-ARG USERNAME=blue
+#
+# ros image now includes a user "ubuntu" at UID 1000
+ARG USERNAME=ubuntu
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
     && usermod -a -G dialout $USERNAME \
     && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
@@ -56,11 +58,21 @@ ENV DEBIAN_FRONTEND=noninteractive
 USER $USERNAME
 ENV USER=$USERNAME
 
-# Install MAVROS dependencies
+# Python in Ubuntu is now marked as a "Externally managed environment",
+# Per best practice, create a venv for local python packages
+# Is there a more elegant way to handle this?
+#
+# These two ENVs effectively "activate" the venv for subsequent calls to
+# python/pip in the Dockerfile
 WORKDIR /home/$USERNAME
-RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
-    && chmod +x install_geographiclib_datasets.sh \
-    && sudo ./install_geographiclib_datasets.sh
+ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
+RUN python3 -m venv --system-site-packages --symlinks $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+# ROS must be activated before the venv (?)
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
+RUN echo "source /home/$USERNAME/.venv/blue/bin/activate" >> /home/$USERNAME/.bashrc
+RUN echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
 
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
@@ -81,32 +93,50 @@ RUN sudo apt-get -q update \
     gstreamer1.0-plugins-ugly \
     gstreamer1.0-plugins-bad \
     gstreamer1.0-libav \
+    libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Manually install MAVROS from source in the ws_blue/ workspace
+WORKDIR $USER_WORKSPACE/src/
+RUN git clone --depth 1 -b ros2 https://github.com/mavlink/mavros.git
+RUN git clone --depth 1 --recursive -b release/rolling/mavlink https://github.com/mavlink/mavlink-gbp-release.git mavlink
+
+# mavgen uses future.standard_library for backwards compatibility with Python2;
+# However, this caused issues in Python3.12.    Comment those lines out
+RUN patch -d mavlink -p 1 < $USER_WORKSPACE/src/blue/.docker/patches/mavlink_standard_library.patch
+WORKDIR $USER_WORKSPACE
+
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
+    && rosdep install -y --from-paths src --ignore-src --as-root=pip:false --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
-RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
-    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
+# Install geographiclib datasets
+# Scripts uses geographiclib-tools which is a rosdep dependency of mavros installed above
+WORKDIR /tmp
+RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
+    && chmod +x /tmp/install_geographiclib_datasets.sh \
+    && sudo /tmp/install_geographiclib_datasets.sh
+
+RUN echo "if [ -f ${USER_WORKSPACE}/install/setup.bash ]; then source ${USER_WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
 FROM robot as desktop
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV GZ_VERSION=garden
+ENV GZ_VERSION=harmonic
 
-# Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu
+# Install Gazebo Harmonic: https://gazebosim.org/docs/harmonic/install_ubuntu
 RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
     && sudo apt-get -q update \
     && sudo apt-get -y --quiet --no-install-recommends install \
-    gz-garden \
+    gz-${GZ_VERSION} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
@@ -115,6 +145,8 @@ RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrin
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && sudo apt-get -q install --no-install-recommends -y \
+    cppzmq-dev \
+    python3-pexpect \
     python3-wxgtk4.0 \
     rapidjson-dev \
     xterm \
diff --git a/.docker/patches/mavlink_standard_library.patch b/.docker/patches/mavlink_standard_library.patch
new file mode 100644
index 00000000..4f2360d8
--- /dev/null
+++ b/.docker/patches/mavlink_standard_library.patch
@@ -0,0 +1,15 @@
+diff --git a/pymavlink/generator/mavgen.py b/pymavlink/generator/mavgen.py
+index ea62c961..35353184 100755
+--- a/pymavlink/generator/mavgen.py
++++ b/pymavlink/generator/mavgen.py
+@@ -23,8 +23,8 @@ General process:
+ '''
+
+ from __future__ import print_function
+-from future import standard_library
+-standard_library.install_aliases()
++#from future import standard_library
++#standard_library.install_aliases()
+ from builtins import object
+ import os
+ import re
diff --git a/.dockerignore b/.dockerignore
index 211fad8d..62be0f94 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -8,4 +8,5 @@
 !blue_demos
 !blue.repos
 !.docker/entrypoints
+!.docker/patches
 !requirements-build.txt
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 8c56c7f7..891d5898 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
+          - IMAGE: jazzy-ci
+            ROS_DISTRO: jazzy
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -37,7 +37,7 @@ jobs:
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
-          DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/blue:${{ matrix.env.IMAGE }}
+          DOCKER_IMAGE: ghcr.io/${{ github.repository }}:${{ matrix.env.IMAGE }}
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
           CC: ${{ env.CLANG_TIDY && 'clang' }}
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index c93452a5..a00ed89a 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -63,7 +63,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -111,7 +111,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -152,7 +152,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
diff --git a/blue.repos b/blue.repos
index ca3abd91..626b08d5 100644
--- a/blue.repos
+++ b/blue.repos
@@ -3,7 +3,7 @@ repositories:
   ros_gz:
     type: git
     url: https://github.com/gazebosim/ros_gz
-    version: ros2
+    version: jazzy
 
   hydrodynamics:
     type: git