diff --git a/.gitignore b/.gitignore
index 100dc30..266180e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
 *bag
+.vscode/
+data/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d7687fe..f8f425f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 
 include(CMakePrintHelpers)
 
-set(CMAKE_CUDA_ARCHITECTURES 60 61 62 70 72 75 86)
+set(CMAKE_CUDA_ARCHITECTURES 86 87 89)
 set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
 
 project(visionsystemx LANGUAGES C CXX CUDA)
@@ -29,8 +29,11 @@ find_package(pcl_conversions REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-set(TensorRT_INCLUDE_DIRS /usr/include/aarch64-linux-gnu)
-set(TensorRT_LIBRARIES /usr/lib/aarch64-linux-gnu)
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+  set(ARCH_INCLUDE_PATH /usr/include/aarch64-linux-gnu)
+else()
+  set(ARCH_INCLUDE_PATH /usr/include/x86_64-linux-gnu)
+endif()
 
 add_executable(beeblebrox src/beeblebrox.cpp)
 
@@ -44,7 +47,7 @@ add_executable(yolo src/detectors/yolo_tensorrt/yolo_tensorrt_node.cpp)
 ament_target_dependencies(yolo
   rclcpp std_msgs OpenCV cv_bridge image_transport CUDA ZED usv_interfaces
 )
-target_include_directories(yolo PRIVATE ${CUDA_INCLUDE_DIRS})
+target_include_directories(yolo PRIVATE ${ARCH_INCLUDE_PATH} ${CUDA_INCLUDE_DIRS})
 target_link_libraries(yolo ${CUDA_LIBRARIES} ${TensorRT_LIBRARIES} nvinfer nvinfer_plugin)
 
 add_executable(lidar src/lidar/translation.cpp)
diff --git a/launch/vision.launch.py b/launch/vision.launch.py
index 4b20487..90a9132 100644
--- a/launch/vision.launch.py
+++ b/launch/vision.launch.py
@@ -5,6 +5,7 @@
 from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
+import os
 
 def generate_launch_description():
     camera_model_arg = DeclareLaunchArgument(
@@ -89,7 +90,21 @@ def generate_launch_description():
         package='visionsystemx',
         executable='lidar_camera.py'
     )
-    
+
+    # Republish raw image as compressed for the web dashboard (rosbridge).
+    # Doesn't affect anything else
+    image_republish = Node(
+        package='image_transport',
+        executable='republish',
+        name='image_republish',
+        arguments=['raw', 'compressed'],
+        remappings=[
+            ('in',              '/bebblebrox/video/image'),
+            ('out/compressed',  '/bebblebrox/video/compressed'),
+        ],
+        output='screen',
+    )
+
     return LaunchDescription([
         camera_model_arg,
         video_feed,
diff --git a/src/detectors/yolo_tensorrt/yolo_tensorrt.hpp b/src/detectors/yolo_tensorrt/yolo_tensorrt.hpp
index b39eafc..67e25f1 100644
--- a/src/detectors/yolo_tensorrt/yolo_tensorrt.hpp
+++ b/src/detectors/yolo_tensorrt/yolo_tensorrt.hpp
@@ -440,6 +440,10 @@ void YOLOv8::draw_objects(
 
         std::string label_text = cv::format("%s %d%%", CLASS_NAMES[obj.label].c_str(), (int)(obj.prob*100.0));
 
+        std::string label_text = cv::format("%s %d%%",
+            CLASS_NAMES[obj.label].c_str(), (int)(obj.prob*100.0));
+
+        // Calculate text size and position
         int baseline = 0;
         cv::Size label_size = cv::getTextSize(label_text, cv::FONT_HERSHEY_SIMPLEX, 0.4, 1, &baseline);
 
diff --git a/src/detectors/yolo_tensorrt/yolo_tensorrt_node.cpp b/src/detectors/yolo_tensorrt/yolo_tensorrt_node.cpp
index 5aaeea0..89d5fba 100644
--- a/src/detectors/yolo_tensorrt/yolo_tensorrt_node.cpp
+++ b/src/detectors/yolo_tensorrt/yolo_tensorrt_node.cpp
@@ -16,12 +16,12 @@ const std::vector<std::string> NAMES {
 	"black_buoy",
 	"blue_buoy",
 	"course_marker",
-	"port_marker",
-	"starboard_marker",
-	"yellow_marker",
-    "blue_circle",
-	"blue_cross",
-    "blue_square"
+    "green_buoy",
+    "port_marker",
+    "red_buoy",
+    "starboard_marker",
+    "yellow_marker",
+    "blue_square",
 	"blue_triangle",
 	"green_circle",
 	"green_cross",
@@ -31,8 +31,8 @@ const std::vector<std::string> NAMES {
 	"red_cross",
 	"red_square",
 	"red_triangle",
-    "green_buoy",
-    "red_buoy"
+    "blue_circle",
+    "blue_cross"
 };
 
 const std::vector<std::vector<unsigned int>> COLORS {
diff --git a/src/zed.hpp b/src/zed.hpp
index bf9ca2c..b67f84a 100644
--- a/src/zed.hpp
+++ b/src/zed.hpp
@@ -26,15 +26,8 @@ ZED_usv::ZED_usv(rclcpp::Logger logger_param, const std::string& camera_model) :
     bool is_zed1 = (camera_model == "zed" || camera_model == "zed1");
     RCLCPP_INFO(this->logger, "Initializing camera model: %s", camera_model.c_str());
 
-    // OPTIMIZED SETTINGS FOR JETSON ORIN NX AND NANO - USB STABILITY FIX
-
-    init_params.sdk_verbose = true;  // ORIGINAL
-    // init_params.sdk_verbose = false;    // OPTIMIZED
-    
-
-    init_params.depth_mode = sl::DEPTH_MODE::ULTRA;        // ORIGINAL
-    // init_params.depth_mode = sl::DEPTH_MODE::NEURAL_LIGHT;   // OPTIMIZED
-    
+    init_params.sdk_verbose = true;
+    init_params.depth_mode = sl::DEPTH_MODE::NEURAL; // Ultra is deprecated in newest sdk
     init_params.coordinate_system = sl::COORDINATE_SYSTEM::LEFT_HANDED_Z_UP;
     init_params.coordinate_units = sl::UNIT::METER;
     init_params.depth_maximum_distance = 20;