diff --git a/docker/Dockerfile.aarch64 b/docker/Dockerfile.aarch64
index c02c3f6a..b503fcc2 100644
--- a/docker/Dockerfile.aarch64
+++ b/docker/Dockerfile.aarch64
@@ -51,8 +51,8 @@ apt-get update && apt-get install -y \
 # Add Isaac apt repository
 RUN --mount=type=cache,target=/var/cache/apt \
     wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
-    grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" /etc/apt/sources.list || \
-    echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | tee -a /etc/apt/sources.list \
+    grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) legacy-release-3.1" /etc/apt/sources.list || \
+    echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) legacy-release-3.1" | tee -a /etc/apt/sources.list \
     && apt-get update
 
 # Setup Jetson debian repositories
@@ -128,13 +128,16 @@ apt-get update && apt-get install -y \
     python3-opencv=4.5.4+dfsg-9ubuntu4 \
     python3-scipy
 
-# Additional Python dependencies
+# Python buildtools
 RUN python3 -m pip install -U \
     Cython \
-    pymongo \
     wheel \
+    ninja 
+
+# Additional Python dependencies
+RUN python3 -m pip install -U \
+    pymongo \
     scikit-learn \
-    ninja \
     networkx \
     "numpy>=1.24.4,<2" \
     numpy-quaternion \
@@ -216,7 +219,7 @@ ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"
 # Current libboost-dev apt packages are < 1.78, so install from tar.gz
 RUN --mount=type=cache,target=/var/cache/apt \
     wget -O /tmp/boost.tar.gz \
-    https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz \
+    https://archives.boost.io/release/1.80.0/source/boost_1_80_0.tar.gz \
     && (cd /tmp && tar xzf boost.tar.gz) \
     && cd /tmp/boost_1_80_0 \
     && ./bootstrap.sh --prefix=/usr \
@@ -242,5 +245,11 @@ apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
 RUN python3 -m pip install -U \
     jetson-stats
 
+# Patch vulnerabilities from base image
+# Upgrade system packages for security patches
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+        nghttp2=1.43.0-1ubuntu0.2
+
 # Store list of packages (must be last)
 RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-end-packages.csv
\ No newline at end of file
diff --git a/docker/Dockerfile.x86_64 b/docker/Dockerfile.x86_64
index 429d60a4..a591d4ca 100644
--- a/docker/Dockerfile.x86_64
+++ b/docker/Dockerfile.x86_64
@@ -30,8 +30,8 @@ apt-get update && apt-get install -y \
 # Add Isaac apt repository
 RUN --mount=type=cache,target=/var/cache/apt \
     wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
-    grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" /etc/apt/sources.list || \
-    echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | tee -a /etc/apt/sources.list \
+    grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) legacy-release-3.1" /etc/apt/sources.list || \
+    echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) legacy-release-3.1" | tee -a /etc/apt/sources.list \
     && apt-get update
 
 # Fundamentals
@@ -105,7 +105,7 @@ RUN python3 -m pip install -U \
         flake8-import-order \
         flake8-quotes \
         gpustat==0.6.0 \
-        onnx \
+        onnx>=1.17.0 \
         pydocstyle \
         scikit-learn \
         ninja \
@@ -172,5 +172,9 @@ apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
         mosquitto \
         mosquitto-clients
 
+# Patch vulnerabilities from base image
+# Remove Triton DALI backend
+RUN rm -rf /opt/tritonserver/backends/dali
+
 # Store list of packages (must be last)
 RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/x86_64-end-packages.csv
\ No newline at end of file
diff --git a/docker/scripts/install-zed-aarch64.sh b/docker/scripts/install-zed-aarch64.sh
index 9699d895..fa7298cd 100644
--- a/docker/scripts/install-zed-aarch64.sh
+++ b/docker/scripts/install-zed-aarch64.sh
@@ -7,7 +7,7 @@ sudo apt-get install --no-install-recommends lsb-release wget less zstd udev sud
 # Download zed SDK installation RUN file to /tmp directory
 cd /tmp
 
-wget -q --no-check-certificate -O ZED_SDK_Linux.run +wget -q --no-check-certificate -O ZED_SDK_Linux.run https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.1/ZED_SDK_Tegra_L4T36.3_v4.1.3.zstd.run
+wget -q --no-check-certificate -O ZED_SDK_Linux.run +wget -q --no-check-certificate -O ZED_SDK_Linux.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t36.3/jetsons
 chmod +x ZED_SDK_Linux.run ; ./ZED_SDK_Linux.run silent skip_od_module skip_python skip_drivers
 
 # Symlink required to use the streaming features on Jetson inside a container, based on
diff --git a/docker/scripts/install-zed-x86_64.sh b/docker/scripts/install-zed-x86_64.sh
index 484babc8..fd63a461 100644
--- a/docker/scripts/install-zed-x86_64.sh
+++ b/docker/scripts/install-zed-x86_64.sh
@@ -14,13 +14,18 @@ export CUDA_MINOR="$(nvcc --version | grep -o -P ' release .{0,4}' | cut -d. -f2
 sudo apt-get update -y || true
 sudo apt-get install --no-install-recommends lsb-release wget less udev sudo zstd build-essential cmake libpng-dev libgomp1 -y
 
-# TODO: Remove this when zed-ros2-wrapper has a compatible version with ZED_SDK 4.1 (which supports cuda 12.2).
 CUDA_MAJOR=12
 CUDA_MINOR=1
 
 # Download zed SDK installation RUN file to /tmp directory
 cd /tmp
-wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR}
+
+ZED_SDK_URL="https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR}"
+if [[ ${ZED_SDK_MINOR} -ge 2 ]]; then
+    ZED_SDK_URL="https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}/ubuntu${UBUNTU_RELEASE_YEAR}"
+fi
+
+wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run ${ZED_SDK_URL}
 chmod +x ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run ; ./ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run -- silent skip_od_module skip_python skip_cuda
 
 # Symlink required for zed SDK, based on