diff --git a/.github/workflows/catkin.yml b/.github/workflows/catkin.yml
deleted file mode 100644
index e3e599cbf..000000000
--- a/.github/workflows/catkin.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: CI
-on:
-  pull_request:
-    branches:
-      - master
-jobs:
-  build:
-    name: Build and Test
-    runs-on: ubuntu-latest
-    container:
-      image: umrover1/ros:latest
-      options: --user root
-    if: github.event.pull_request.draft == false
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          lfs: "true"
-          path: "src"
-      - name: Initialize catkin workspace
-        run: . /opt/ros/noetic/setup.sh && catkin init
-      - name: Build
-        run: . /opt/ros/noetic/setup.sh && catkin build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_CLANG_TIDY=clang-tidy-12
-      - name: Python requirements
-        run: pip3 install -r $GITHUB_WORKSPACE/src/requirements.txt
-      - name: Test
-        run: . /opt/ros/noetic/setup.sh && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test -j1
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 000000000..445697edb
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,39 @@
+name: CI
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+jobs:
+  ci:
+    name: CI
+    runs-on: ubuntu-latest
+    container:
+      image: umrover1/ros:latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: "true"
+          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
+          path: "src/mrover"
+      - name: Ensure Python Requirements
+        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install -e "$GITHUB_WORKSPACE/src/mrover[dev]"
+      - name: Style Check
+        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
+      - name: Ensure APT Requirements
+        if: github.event.pull_request.draft == false
+        run: rosdep update && rosdep install --from-paths "$GITHUB_WORKSPACE/src" --ignore-src -r -y --rosdistro noetic
+      - name: Copy Catkin Profiles
+        if: github.event.pull_request.draft == false
+        run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools
+      - name: Initialize
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/noetic/setup.sh && catkin init && catkin profile set ci
+      - name: Build
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
+      - name: Test
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test -j1
diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
deleted file mode 100644
index 545203560..000000000
--- a/.github/workflows/style.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: Style
-on:
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-jobs:
-  code-style:
-    name: Code Style Check
-    runs-on: ubuntu-latest
-    container:
-      image: umrover1/ros:latest
-      options: --user root
-    steps:
-      - uses: actions/checkout@v3
-      - name: Style check C++/Python
-        run: $GITHUB_WORKSPACE/style.sh
diff --git a/.gitignore b/.gitignore
index 2ac606dbf..b33a46b98 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,30 +3,28 @@ __pycache__/
 *.py[cod]
 *$py.class
 .mypy_cache/
+*.egg-info/
 
 # Common IDE's, ideally this should be in global gitignore per user
-**/.vscode/
-**/.idea/
-cmake-build*/
+.vscode/
+.idea/
+/cmake-build*/
 
 #GUI Files
+node_modules/
 /src/teleop/gui/dist/
-/src/teleop/gui/node_modules/
 /src/teleop/gui/src/static/map
-**/keys.json*
-**/yarn.lock*
-**/yarn-error.log*
+keys.json*
+yarn.lock*
+yarn-error.log*
 
 # Bag Files
-bags/
-
-# Bag Files
-bags/
+/bags/
 
 # Catkin
-build/
-devel/
-logs/
+/build/
+/devel/
+/logs/
 
 # Moteus
 moteus-cal*
@@ -35,4 +33,4 @@ moteus-cal*
 *.csv
 
 # Virtual Environment
-venv/
\ No newline at end of file
+/venv/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03b28a876..5019ac533 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(mrover VERSION 2024.0 LANGUAGES CXX)
+project(mrover VERSION 2024.0.0 LANGUAGES CXX)
 
 ## Compile as C++17, supported in ROS Kinetic and newer, enable some static analysis
 set(CMAKE_CXX_STANDARD 17)
@@ -199,26 +199,6 @@ else ()
             rosbridge_server
             teleop_twist_joy
             gazebo_ros
-            moveit_commander
-            moveit_core
-            moveit_fake_controller_manager
-            moveit_kinematics
-            moveit_msgs
-            moveit_planners_chomp
-            moveit_planners_ompl
-            moveit_ros_benchmarks
-            moveit_ros_control_interface
-            moveit_ros_manipulation
-            moveit_ros_move_group
-            moveit_ros_occupancy_map_monitor
-            moveit_ros_perception
-            moveit_ros_planning
-            moveit_ros_planning_interface
-            moveit_ros_robot_interaction
-            moveit_ros_visualization
-            moveit_ros_warehouse
-            moveit_setup_assistant
-            moveit_simple_controller_manager
     )
 
     # append subdirectories
@@ -235,7 +215,7 @@ else ()
         find_package(OpenCV REQUIRED COMPONENTS core aruco)
         find_package(gazebo REQUIRED)
         find_package(Eigen3 REQUIRED)
-        find_package(ZED 2)
+        find_package(ZED 2 QUIET)
         if (ZED_FOUND)
             set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
             set(CMAKE_CUDA_STANDARD 17)
diff --git a/Dockerfile b/Dockerfile
index 454b42b28..cd65b024e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,9 +1,12 @@
 FROM ros:noetic
 
-RUN apt-get update -y && apt-get upgrade -y && apt-get install software-properties-common -y
+# DEBIAN_FRONTEND=noninteractive and keyboard-configuration are needed to prevent stdin prompting later on
+# This was super annoying to figure out because otherwise the build would hang
+# software-properties-common is needed for apt-add-repository
+RUN apt-get update -y && apt-get upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install software-properties-common keyboard-configuration -y
 RUN apt-add-repository ppa:ansible/ansible -y
 RUN apt-add-repository ppa:git-core/ppa -y
-RUN apt install -y ansible git git-lfs
+RUN apt-get install -y ansible git git-lfs
 
 RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
 # Give mrover user sudo access with no password
@@ -12,8 +15,13 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER mrover
 RUN mkdir -p /home/mrover/catkin_ws/src/mrover
 WORKDIR /home/mrover/catkin_ws/src/mrover
+# Defines the APT packages that need to be installed
+# rosdep is called from Ansible to install them
 ADD ./package.xml .
+# Defines the Python packages that need to be installed
+# pip is called from Ansible to install them
 ADD ./pyproject.toml .
+# Copy over all Ansible files
 ADD ./ansible ./ansible
 ADD ./ansible.sh .
 RUN ./ansible.sh build.yml
diff --git a/ansible.sh b/ansible.sh
index 5cb4af68e..f37d0b3cc 100755
--- a/ansible.sh
+++ b/ansible.sh
@@ -9,6 +9,6 @@ fi
 
 sudo -v # Ensure Ansible has sudo permission
 
-MROVER_PATH=$(dirname "$0")
-CATKIN_WORKSPACE_PATH=$(realpath "${MROVER_PATH}"/../..)
+readonly MROVER_PATH=$(dirname "$0")
+readonly CATKIN_WORKSPACE_PATH=$(realpath "${MROVER_PATH}"/../..)
 ansible-playbook -i "localhost," -c local "${MROVER_PATH}"/ansible/"$1" --extra-vars "catkin_workspace=${CATKIN_WORKSPACE_PATH}"
diff --git a/ansible/roles/build/files/profiles/ci/config.yaml b/ansible/roles/build/files/profiles/ci/config.yaml
new file mode 100644
index 000000000..44661fe8f
--- /dev/null
+++ b/ansible/roles/build/files/profiles/ci/config.yaml
@@ -0,0 +1,27 @@
+authors: [ ]
+blacklist: [ ]
+build_space: build
+catkin_make_args: [ ]
+cmake_args:
+  - -DCMAKE_BUILD_TYPE=Release
+  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_C_COMPILER=clang-16
+  - -DCMAKE_CXX_COMPILER=clang++-16
+  - -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
+devel_layout: linked
+devel_space: devel
+extend_path: null
+extends: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: [ ]
+licenses:
+  - TODO
+log_space: logs
+maintainers: [ ]
+make_args: [ ]
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: [ ]
diff --git a/ansible/roles/build/files/profiles/debug/config.yaml b/ansible/roles/build/files/profiles/debug/config.yaml
index 81a1c908f..004623cb6 100644
--- a/ansible/roles/build/files/profiles/debug/config.yaml
+++ b/ansible/roles/build/files/profiles/debug/config.yaml
@@ -1,14 +1,14 @@
-authors: []
-blacklist: []
+authors: [ ]
+blacklist: [ ]
 build_space: build
-catkin_make_args: []
+catkin_make_args: [ ]
 cmake_args:
-- -DCMAKE_BUILD_TYPE=Debug
-- -DCMAKE_CXX_FLAGS=-pipe
-- -DCMAKE_C_COMPILER=clang-16
-- -DCMAKE_CXX_COMPILER=clang++-16
-- -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-- -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
+  - -DCMAKE_BUILD_TYPE=Debug
+  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_C_COMPILER=clang-16
+  - -DCMAKE_CXX_COMPILER=clang++-16
+  - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+  - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
 devel_layout: linked
 devel_space: devel
 extend_path: null
@@ -16,13 +16,13 @@ extends: null
 install: false
 install_space: install
 isolate_install: false
-jobs_args: []
+jobs_args: [ ]
 licenses:
-- TODO
+  - TODO
 log_space: logs
-maintainers: []
-make_args: []
+maintainers: [ ]
+make_args: [ ]
 source_space: src
 use_env_cache: false
 use_internal_make_jobserver: true
-whitelist: []
+whitelist: [ ]
diff --git a/ansible/roles/build/files/profiles/release/config.yaml b/ansible/roles/build/files/profiles/release/config.yaml
index ed7c7bc69..8f6df2e90 100644
--- a/ansible/roles/build/files/profiles/release/config.yaml
+++ b/ansible/roles/build/files/profiles/release/config.yaml
@@ -1,14 +1,14 @@
-authors: []
-blacklist: []
+authors: [ ]
+blacklist: [ ]
 build_space: build
-catkin_make_args: []
+catkin_make_args: [ ]
 cmake_args:
-- -DCMAKE_BUILD_TYPE=Release
-- -DCMAKE_CXX_FLAGS=-march=native -pipe
-- -DCMAKE_C_COMPILER=clang-16
-- -DCMAKE_CXX_COMPILER=clang++-16
-- -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-- -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
+  - -DCMAKE_BUILD_TYPE=Release
+  - -DCMAKE_CXX_FLAGS=-march=native -pipe
+  - -DCMAKE_C_COMPILER=clang-16
+  - -DCMAKE_CXX_COMPILER=clang++-16
+  - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+  - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
 devel_layout: linked
 devel_space: devel
 extend_path: null
@@ -16,13 +16,13 @@ extends: null
 install: false
 install_space: install
 isolate_install: false
-jobs_args: []
+jobs_args: [ ]
 licenses:
-- TODO
+  - TODO
 log_space: logs
-maintainers: []
-make_args: []
+maintainers: [ ]
+make_args: [ ]
 source_space: src
 use_env_cache: false
 use_internal_make_jobserver: true
-whitelist: []
+whitelist: [ ]
diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml
index 2565fc41e..223073a98 100644
--- a/ansible/roles/build/tasks/main.yml
+++ b/ansible/roles/build/tasks/main.yml
@@ -80,11 +80,13 @@
       - python3-virtualenvwrapper
       - clang-16
       - clangd-16
+      - clang-tidy-16
       - clang-format-16
       - lld-16
       - lldb-16
       - g++-11
       - python3.10
+      - python3.10-dev
       - python3.10-venv
       - ros-{{ ros_distro }}-rosbash
 
diff --git a/package.xml b/package.xml
index c7dba2fad..e87ee3c2c 100644
--- a/package.xml
+++ b/package.xml
@@ -1,119 +1,103 @@
 <?xml version="1.0"?>
 <package format="2">
-    <name>mrover</name>
-    <version>1.0.0</version>
-    <description>The MRover Package</description>
-
-    <maintainer email="rover-software-23@umich.edu">MRover</maintainer>
-
-    <!-- One license tag required, multiple allowed, one license per tag -->
-    <!-- Commonly used license strings: -->
-    <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-    <license>MIT</license>
-
-    <!-- Url tags are optional, but multiple are allowed, one per tag -->
-    <!-- Optional attribute type can be: website, bugtracker, or repository -->
-    <!-- Example: -->
-    <!-- <url type="website">http://wiki.ros.org/mrover</url> -->
-
-
-    <!-- Author tags are optional, multiple are allowed, one per tag -->
-    <!-- Authors do not have to be maintainers, but could be -->
-    <!-- Example: -->
-    <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-    <!-- The *depend tags are used to specify dependencies -->
-    <!-- Dependencies can be catkin packages or system dependencies -->
-    <!-- Examples: -->
-    <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-    <!--   <depend>roscpp</depend> -->
-    <!--   Note that this is equivalent to the following: -->
-    <!--   <build_depend>roscpp</build_depend> -->
-    <!--   <exec_depend>roscpp</exec_depend> -->
-    <!-- Use build_depend for packages you need at compile time: -->
-    <build_depend>message_generation</build_depend>
-    <!-- Use build_export_depend for packages you need in order to build against this package: -->
-    <!--   <build_export_depend>message_generation</build_export_depend> -->
-    <!-- Use buildtool_depend for build tool packages: -->
-    <!--   <buildtool_depend>catkin</buildtool_depend> -->
-    <!-- Use exec_depend for packages you need at runtime: -->
-    <exec_depend>message_runtime</exec_depend>
-    <!-- Use test_depend for packages you need only for testing: -->
-    <!--   <test_depend>gtest</test_depend> -->
-    <!-- Use doc_depend for packages you need only for building documentation: -->
-    <!--   <doc_depend>doxygen</doc_depend> -->
-
-    <!-- Common -->
-    <buildtool_depend>catkin</buildtool_depend>
-    <build_depend>roscpp</build_depend>
-    <build_depend>rospy</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>nodelet</build_depend>
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>rospy</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>rospy</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>nodelet</exec_depend>
-    <exec_depend>xacro</exec_depend>
-    <exec_depend>joint_state_publisher</exec_depend>
-    <exec_depend>robot_state_publisher</exec_depend>
-    <exec_depend>ros_numpy</exec_depend>
-    <exec_depend>rosbridge_server</exec_depend>
-    <exec_depend>tf2_web_republisher</exec_depend>
-
-    <!-- Visualization -->
-    <depend>rviz</depend>
-    <depend>hector_trajectory_server</depend>
-
-    <!-- Perception -->
-    <depend>compressed_depth_image_transport</depend>
-    <depend>compressed_image_transport</depend>
-    <depend>theora_image_transport</depend>
-    <depend>tf2_geometry_msgs</depend>
-    <depend>tf2_ros</depend>
-    <depend>tf2</depend>
-    <depend>image_transport</depend>
-    <depend>sensor_msgs</depend>
-    <depend>dynamic_reconfigure</depend>
-    <depend>python3-cairosvg</depend>
-    <depend>python3-joblib</depend>
-    <depend>rtabmap_ros</depend>
-
-    <!-- Localization -->
-    <depend>rviz_imu_plugin</depend>
-    <depend>robot_localization</depend>
-    <depend>nmea_navsat_driver</depend>
-
-    <!-- Navigation -->
-    <depend>smach_ros</depend>
-
-    <!-- Teleop -->
-    <depend>teleop_twist_joy</depend>
-
-    <!-- Simulation -->
-    <depend>gazebo_ros</depend>
-    <depend>hector_gazebo</depend>
-    <depend>teleop_twist_keyboard</depend>
-
-    <!-- MoveIt -->
-    <depend>moveit</depend>
-
-    <!-- Drone -->
-    <depend>mavlink</depend>
-    <depend>mavros</depend>
-    <depend>mavros_extras</depend>
-    <depend>mavros_msgs</depend>
-
-    <!-- Test -->
-    <test_depend>rosunit</test_depend>
-    <test_depend>rostest</test_depend>
-
-    <!-- The export tag contains other, unspecified, tags -->
-    <export>
-        <nodelet plugin="${prefix}/plugins/tag_detector_plugin.xml"/>
-        <nodelet plugin="${prefix}/plugins/zed_plugin.xml"/>
-    </export>
+  <name>mrover</name>
+  <version>2024.0.0</version>
+  <description>The MRover Package</description>
+
+  <maintainer email="rover-software-23@umich.edu">MRover</maintainer>
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>GPLv3</license>
+
+  <url type="website">https://github.com/umrover/mrover-ros</url>
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>message_generation</build_depend>
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <exec_depend>message_runtime</exec_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+
+  <!-- Common -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>tf2_web_republisher</exec_depend>
+
+  <!-- Visualization -->
+  <depend>rviz</depend>
+  <depend>hector_trajectory_server</depend>
+
+  <!-- Perception -->
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>image_transport</depend>
+  <depend>theora_image_transport</depend>
+  <depend>compressed_image_transport</depend>
+  <depend>compressed_depth_image_transport</depend>
+  <depend>sensor_msgs</depend>
+  <depend>dynamic_reconfigure</depend>
+
+  <!-- Localization -->
+  <depend>rviz_imu_plugin</depend>
+  <depend>robot_localization</depend>
+  <depend>nmea_navsat_driver</depend>
+
+  <!-- Navigation -->
+  <depend>smach_ros</depend>
+  <depend>control_msgs</depend>
+
+  <!-- Teleop -->
+  <depend>teleop_twist_joy</depend>
+
+  <!-- Simulation -->
+  <depend>gazebo_ros</depend>
+  <depend>hector_gazebo</depend>
+  <depend>teleop_twist_keyboard</depend>
+
+  <!-- Test -->
+  <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <nodelet plugin="${prefix}/plugins/tag_detector_plugin.xml"/>
+    <nodelet plugin="${prefix}/plugins/zed_plugin.xml"/>
+  </export>
 </package>
diff --git a/pyproject.toml b/pyproject.toml
index abc2757c3..17c26b5cc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "mrover"
-version = "2024.0"
+version = "2024.0.0"
 description = "MRover Python Code"
 readme = "README.md"
 requires-python = ">=3.10.0"
@@ -9,6 +9,11 @@ maintainers = [
     { name = "Michigan Mars Rover Team" }
 ]
 dependencies = [
+    # ROS dependencies
+    "rospkg==1.5.0",
+    "netifaces==0.11.0",
+    "defusedxml==0.7.1",
+    # MRover dependencies
     "Django==4.2.5",
     "empy==3.3.4",
     "numpy==1.26.0",
@@ -18,8 +23,6 @@ dependencies = [
     "moteus==0.3.59",
     "pymap3d==3.0.1",
     "aenum==3.1.15",
-    "PyYAML==6.0.1",
-    "rospkg==1.5.0",
 ]
 
 [project.optional-dependencies]
diff --git a/style.sh b/style.sh
index 2afe1daf3..39ff40b7c 100755
--- a/style.sh
+++ b/style.sh
@@ -55,8 +55,8 @@ readonly FOLDERS=(
   ./src/gazebo
   ./src/util
 )
-for folder in "${FOLDERS[@]}"; do
-  find "$folder" -regex '.*\.\(cpp\|hpp\|h\)' -exec "$clang_format_executable_path" --dry-run -style=file -i {} \;
+for FOLDER in "${FOLDERS[@]}"; do
+  find "${FOLDER}" -regex '.*\.\(cpp\|hpp\|h\)' -exec "$clang_format_executable_path" --dry-run -style=file -i {} \;
 done
 echo "Done"