diff --git a/.codespellrc b/.codespellrc
new file mode 100644
index 0000000..4a6672a
--- /dev/null
+++ b/.codespellrc
@@ -0,0 +1,4 @@
+[codespell]
+# Uncomment and populate the following so that codespell ignores the specified words/files
+# skip =
+# ignore-words-list =
diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile
index b819348..0a97311 100644
--- a/.devcontainer/nouveau/Dockerfile
+++ b/.devcontainer/nouveau/Dockerfile
@@ -1,10 +1,8 @@
-FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop
+FROM ghcr.io/robotic-decision-making-lab/ros2-template:jazzy-desktop
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
-ENV USERNAME=ros
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
@@ -18,9 +16,20 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
+RUN pip install \
+    pre-commit \
+    mypy
+
+# Install debugging/linting C++ packages
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y \
+    clang-format-18 \
+    clang-tidy \
+    clang-tools \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)
diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
index 3fcf6d9..aa27d10 100644
--- a/.devcontainer/nouveau/devcontainer.json
+++ b/.devcontainer/nouveau/devcontainer.json
@@ -2,9 +2,9 @@
   "name": "ROS 2 Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
-  "workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
-  "remoteUser": "ros",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/ros2-template,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/ros2-template",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",
diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile
index 3d2e46e..594696e 100644
--- a/.devcontainer/nvidia/Dockerfile
+++ b/.devcontainer/nvidia/Dockerfile
@@ -1,10 +1,8 @@
-FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/ros2-template:jazzy-desktop-nvidia
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
-ENV USERNAME=ros
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
@@ -18,9 +16,20 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
+RUN pip install \
+    pre-commit \
+    mypy
+
+# Install debugging/linting C++ packages
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y \
+    clang-format-18 \
+    clang-tidy \
+    clang-tools \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
index 4bbbdb1..067f409 100644
--- a/.devcontainer/nvidia/devcontainer.json
+++ b/.devcontainer/nvidia/devcontainer.json
@@ -2,9 +2,9 @@
   "name": "ROS 2 NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
-  "workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
-  "remoteUser": "ros",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/ros2-template,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/ros2-template",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 75caefd..eb12052 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=iron
+ARG ROS_DISTRO=jazzy
 FROM ros:$ROS_DISTRO-ros-base as ci
 
 ENV DEBIAN_FRONTEND=noninteractive
@@ -16,11 +16,9 @@ RUN apt-get -q update \
     git \
     sudo \
     clang \
-    clang-format-14 \
-    clang-tidy \
-    clang-tools \
     python3-pip \
     python3-dev \
+    python3-venv \
     apt-utils \
     software-properties-common \
     && apt-get autoremove -y \
@@ -39,28 +37,33 @@ RUN apt-get -q update \
 
 FROM ci as robot
 
-# Configure a new non-root user
-ARG USERNAME=ros
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Configure the ubuntu non-root user
+ARG USERNAME=ubuntu
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
-    && usermod -a -G dialout $USERNAME \
-    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+    && usermod -a -G dialout $USERNAME
 
-# Switch to the non-root user
+# Switch to the ubuntu non-root user
 USER $USERNAME
 ENV USER=$USERNAME
 
-ENV DEBIAN_FRONTEND=noninteractive
 ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
+# Create a new virtual environment for Python
+ENV VIRTUAL_ENV=$USER_WORKSPACE/.venv/$PROJECT_NAME
+RUN python3 -m venv --system-site-packages $VIRTUAL_ENV \
+    && echo "source ${VIRTUAL_ENV}/bin/activate" >> /home/$USERNAME/.bashrc \
+    && touch .venv/COLCON_IGNORE
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
 # Uncomment to download and install external repos used by the project
 # RUN vcs import src < src/$PROJECT_NAME/ros2.repos
 
@@ -69,7 +72,7 @@ WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
@@ -85,29 +88,11 @@ ENV DEBIAN_FRONTEND=noninteractive
 ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
-# Install tools needed for Gazebo installation
+# Install Gazebo
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && sudo apt-get install -y \
-    lsb-release \
-    wget \
-    gnupg \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# Set to the desired version of Gazebo
-# Refer to the official documentation for the recommended pairings:
-# https://gazebosim.org/docs/harmonic/ros_installation
-ENV GAZEBO_VERSION=harmonic
-
-RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
-    && sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get install -y \
-    gz-$GAZEBO_VERSION \
-    ros-$ROS_DISTRO-ros-gz$GAZEBO_VERSION \
+    ros-$ROS_DISTRO-ros-gz \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6ed9868..9dce4c7 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: iron-ci
-            ROS_DISTRO: iron
+          - IMAGE: jazzy-ci
+            ROS_DISTRO: jazzy
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index ff9cc64..a1c2652 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -59,7 +59,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -107,7 +107,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -148,7 +148,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index 2024987..a6f4010 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -18,10 +18,10 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v5
         with:
-          python-version: "3.10"
+          python-version: "3.12"
 
-      - name: Install clang-format-14
-        run: sudo apt-get install clang-format-14
+      - name: Install clang-format-18
+        run: sudo apt-get install clang-format-18
 
       - name: Run pre-commit
         uses: pre-commit/action@v3.0.1
diff --git a/.gitignore b/.gitignore
index 7e1fc9a..0c6b602 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,6 @@
 build
 install
 log
+
+# virtualenv
+.venv
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 79ad31d..9d35030 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-14
+        entry: clang-format-18
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=Google', '-i']
diff --git a/.ruff.toml b/.ruff.toml
index fef8156..8b96752 100644
--- a/.ruff.toml
+++ b/.ruff.toml
@@ -1 +1 @@
-target-version = "py310"
+target-version = "py312"
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 9eadd8c..a3e78c7 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -4,7 +4,7 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
-        "/opt/ros/iron/include/**",
+        "/opt/ros/jazzy/include/**",
         "/usr/include/gz/**"
       ],
       "defines": [],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 009f4e0..a96abea 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -23,20 +23,20 @@
   "autoDocstring.startOnNewLine": false,
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
+    "/opt/ros/jazzy/lib/python3.12/site-packages/",
+    "/opt/ros/jazzy/local/lib/python3.12/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "python.analysis.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
+    "/opt/ros/jazzy/lib/python3.12/site-packages/",
+    "/opt/ros/jazzy/local/lib/python3.12/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
   "C_Cpp.clang_format_fallbackStyle": "Google",
   "C_Cpp.codeAnalysis.clangTidy.enabled": true,
   "C_Cpp.codeAnalysis.clangTidy.codeAction.formatFixes": true,
-  "clang-format.executable": "/usr/bin/clang-format-14",
+  "clang-format.executable": "/usr/bin/clang-format-18",
   "[cpp]": {
     "editor.rulers": [120],
     "editor.tabSize": 2,
diff --git a/example_pkg/package.xml b/example_pkg/package.xml
index 541e4df..f67d5a0 100644
--- a/example_pkg/package.xml
+++ b/example_pkg/package.xml
@@ -7,7 +7,7 @@
   <description>A sample ROS 2 package</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
-  <license>BSD 3-Clause</license>
+  <license>MIT</license>
 
   <url type="repository">https://github.com/Robotic-Decision-Making-Lab/ros2-template.git</url>
   <url type="bugtracker">https://github.com/Robotic-Decision-Making-Lab/ros2-template/issues</url>
diff --git a/requirements-dev.txt b/requirements-dev.txt
deleted file mode 100644
index a3bd924..0000000
--- a/requirements-dev.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-# Development tools not required for project installation
-pre-commit
-mypy