diff --git a/.env.prod b/.env.prod
index ab907a32..61a48c24 100755
--- a/.env.prod
+++ b/.env.prod
@@ -1,6 +1,6 @@
-GPS_PORT=/dev/serial/by-id/usb-Lord_Microstrain_Lord_Inertial_Sensor_0000_6284.114124-if00
+GPS_PORT=/dev/null
 GPS_PORT_AUX=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/bus/usb
-TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AD01TF04-if00-port0
-FEATHER_PORT=/dev/serial/by-id/usb-Adafruit_Adafruit_Feather_M0_77D70E005154384153202020FF18250B-if00
+TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AL037JPG-if00-port0
+FEATHER_PORT=/dev/null
diff --git a/docker_auton/Dockerfile b/docker_auton/Dockerfile
index a05558e6..2d9d3128 100755
--- a/docker_auton/Dockerfile
+++ b/docker_auton/Dockerfile
@@ -1,33 +1,44 @@
 # FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
 
-FROM osrf/ros:noetic-desktop-full-focal
-
+#FROM arm64v8/ros:noetic-perception-focal
+#FROM ros:noetic-ros-base-focal
 # COPY --from=CUDA /usr/local/cuda /usr/local/
+#FROM arm64v8/ros:noetic-ros-base-focal
+
 
+FROM ubuntu:focal@sha256:420b6f4cc783dc199667eae3316d9e066bd6e19931448c1e4b6f9a3759e52106
 
+ENV DEBIAN_FRONTEND noninteractive
 RUN apt update
 RUN apt-get install -y -qq \
   python3-pip \
   python3-tk \
-  vim git tmux tree sl htop x11-apps
+  vim git tmux tree sl htop x11-apps curl
 
-RUN apt-get install -y -qq \
+RUN apt-get update && apt-get install -y lsb-release && apt-get clean all
+
+# RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
+# RUN apt-key add -
+
+# https://wiki.ros.org/noetic/Installation/Ubuntu
+
+# RUN apt-get install -y -qq \
+#   ros-noetic-desktop-full \ 
   ros-noetic-rosserial \
   ros-noetic-foxglove-bridge \
   ros-noetic-microstrain-inertial-driver \
   ros-noetic-realsense2-camera \
   ros-noetic-realsense2-description \
-  ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
+  ros-noetic-mavros ros-noetic-mavros-extras ros-noetic-mavros-msgs
 
 # Run this now to cache it separately from other requirements
 # COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt
 # RUN pip3 install -r cuda-requirements.txt
 
+# COPY ./python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
+# RUN pip3 install -r python-requirements.txt
 
-COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
-RUN pip3 install -r python-requirements.txt
-
-RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc
+# RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc
 RUN echo 'cd rb_ws' >> ~/.bashrc
 RUN echo 'catkin_make >/dev/null' >> ~/.bashrc
 RUN echo 'source devel/setup.bash' >> ~/.bashrc
diff --git a/docker_tester_outofdate/Dockerfile b/docker_tester/Dockerfile
similarity index 100%
rename from docker_tester_outofdate/Dockerfile
rename to docker_tester/Dockerfile
diff --git a/rb_ws/= b/rb_ws/=
new file mode 100644
index 00000000..ef0f84ea
--- /dev/null
+++ b/rb_ws/=
@@ -0,0 +1 @@
+Requirement already satisfied: numpy in /usr/local/lib/python3.8/dist-packages (1.20.3)
diff --git a/rb_ws/python-requirements.txt b/rb_ws/python-requirements.txt
new file mode 100644
index 00000000..9e12c3fe
--- /dev/null
+++ b/rb_ws/python-requirements.txt
@@ -0,0 +1,13 @@
+matplotlib==3.1.2
+NavPy==1.0
+numba==0.58.0
+numpy<1.21.0
+osqp==0.6.3
+pandas==2.0.3
+pymap3d==3.0.1
+scipy==1.10.1
+trimesh==3.23.5
+utm==0.7.0
+keyboard==0.13.5
+tk==0.1.0
+pyembree
diff --git a/rb_ws/src/buggy/launch/debug_steer.launch b/rb_ws/src/buggy/launch/debug_steer.launch
index a200e728..76f83bc0 100644
--- a/rb_ws/src/buggy/launch/debug_steer.launch
+++ b/rb_ws/src/buggy/launch/debug_steer.launch
@@ -2,4 +2,5 @@
 
 <launch>
     <node name="debug_steer" pkg="buggy" type="debug_steer.py" output="screen" args="--self_name NAND"/>
+    <node name="bnyahaj" pkg="buggy" type="ros_to_bnyahaj.py" respawn="true" output="screen" args="--self_name NAND --teensy_name ttyUSB0"/>
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/launch/nand-system.launch b/rb_ws/src/buggy/launch/nand-system.launch
index 21416a5e..973cbf91 100644
--- a/rb_ws/src/buggy/launch/nand-system.launch
+++ b/rb_ws/src/buggy/launch/nand-system.launch
@@ -2,7 +2,7 @@
 
 <launch>
 
-    <node name="bnyahaj" pkg="buggy" type="ros_to_bnyahaj.py" respawn="true" output="screen" args="--self_name NAND --teensy_name nand-teensy"/>
+    <node name="bnyahaj" pkg="buggy" type="ros_to_bnyahaj.py" respawn="true" output="screen" args="--self_name NAND --teensy_name ttyUSB0"/>
 
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
     <node name="telematics" pkg="buggy" type="telematics.py" />
diff --git a/rb_ws/src/buggy/scripts/debug/debug_steer.py b/rb_ws/src/buggy/scripts/debug/debug_steer.py
index 142920f2..7f30641e 100755
--- a/rb_ws/src/buggy/scripts/debug/debug_steer.py
+++ b/rb_ws/src/buggy/scripts/debug/debug_steer.py
@@ -24,7 +24,7 @@ def __init__(self, self_name) -> None:
 
     # Outputs a continuous sine wave ranging from -50 to 50, with a period of 500 ticks
     def sin_steer(self, tick_count):
-        return 50 * np.sin((2 * np.pi) * tick_count/500)
+        return 20 * np.sin((2 * np.pi) * tick_count/1000)
 
     #returns a constant steering angle of 42 degrees
     def constant_steer(self, _):
@@ -42,6 +42,7 @@ def loop(self):
 
             tick_count += 1
             steer_cmd = self.sin_steer(tick_count)
+            # print(steer_cmd)
             rate.sleep()
 
 
diff --git a/setup_prod.sh b/setup_prod.sh
index 6afef617..82c97e2c 100755
--- a/setup_prod.sh
+++ b/setup_prod.sh
@@ -87,10 +87,10 @@ cp cuda-requirements.txt docker_auton
 mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt
 
 echo "Building containers..."
-docker compose -f $dockerfile build
+docker-compose -f $dockerfile build
 
 echo "Starting containers..."
-docker compose -f $dockerfile --env-file .env.prod up -d
+docker-compose -f $dockerfile --env-file .env.prod up -d
 
 sleep 0.5