diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 0ac16fe..bcdef1a 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -2,8 +2,8 @@
     "name": "ForzaETH Race Stack Humble",
     "privileged": true,
     "remoteUser": "${localEnv:USER}",
-    "image": "jet_forzaeth_racestack_ros2:humble",
-    // "image": "nuc_forzaeth_racestack_ros2:humble",
+    // "image": "jet_forzaeth_racestack_ros2:humble",
+    "image": "nuc_forzaeth_racestack_ros2:humble",
     "initializeCommand": "/bin/bash -c 'source ${localWorkspaceFolder}/.devcontainer/xauth_setup.sh'",
     "workspaceFolder": "/home/${localEnv:USER}/ws/src/race_stack/",
     "workspaceMount": "source=${localWorkspaceFolder},target=/home/${localEnv:USER}/ws/src/race_stack,type=bind",
diff --git a/base_system/f1tenth_system b/base_system/f1tenth_system
index f2262a6..65d363c 160000
--- a/base_system/f1tenth_system
+++ b/base_system/f1tenth_system
@@ -1 +1 @@
-Subproject commit f2262a65ed7272ba4f873520cd6324ece8665c0d
+Subproject commit 65d363c7e8ac76607081f6cc65466a8724bd9e24
diff --git a/controller/controller/controller_manager.py b/controller/controller/controller_manager.py
index 43998ec..f5d34da 100644
--- a/controller/controller/controller_manager.py
+++ b/controller/controller/controller_manager.py
@@ -99,8 +99,6 @@ def __init__(self):
         self.waypoint_pub = self.create_publisher(MarkerArray, 'my_waypoints', 10)
         self.l1_pub = self.create_publisher(Point, 'l1_distance', 10)
         self.gap_data = self.create_publisher(PidData, '/trailing/gap_data', 10)
-        # Publisher for steering and speed command
-        self.publish_topic = '/vesc/high_level/ackermann_cmd_mux/input/nav_1'
 
         self.track_length = None
         self.opponent = None
diff --git a/sensors/vesc b/sensors/vesc
index 16f7a0d..cda1bcb 160000
--- a/sensors/vesc
+++ b/sensors/vesc
@@ -1 +1 @@
-Subproject commit 16f7a0de7ae551716153d4afb5ac8670d91ec170
+Subproject commit cda1bcb844c8c703492919b9ee8904e9ca221723
diff --git a/stack_master/launch/head_to_head_launch.xml b/stack_master/launch/head_to_head_launch.xml
index ada171e..b26ced1 100644
--- a/stack_master/launch/head_to_head_launch.xml
+++ b/stack_master/launch/head_to_head_launch.xml
@@ -4,6 +4,7 @@
     <arg name="overtake_mode" default="spliner" /> <!--  spliner / graph_based -->
     <arg name="ctrl_algo" default="MAP"/> <!-- MAP / PP -->
     <arg name="measure" default="False" />
+    <arg name="use_od" default="True" />
 
     <!-- launch controller manager -->
     <include file="$(find-pkg-share controller)/launch/controller_launch.xml">
@@ -23,8 +24,10 @@
     </group>
 
     <!-- PERCEPTION -->
-    <include file="$(find-pkg-share perception)/launch/perception_launch.xml">
-        <arg name="param_file" value="$(find-pkg-share stack_master)/config/opponent_tracker_params.yaml" />
-    </include> 
+    <group if="$(var use_od)">
+        <include file="$(find-pkg-share perception)/launch/perception_launch.xml">
+            <arg name="param_file" value="$(find-pkg-share stack_master)/config/opponent_tracker_params.yaml" />
+        </include>
+    </group>
     
 </launch>
diff --git a/stack_master/setup.py b/stack_master/setup.py
index 5548820..de9211d 100644
--- a/stack_master/setup.py
+++ b/stack_master/setup.py
@@ -26,6 +26,7 @@
         (os.path.join('share', package_name, 'config', 'NUC5'), glob(os.path.join('config', 'NUC5', '*/*'), recursive=True)),
         (os.path.join('share', package_name, 'config', 'NUC5'), glob(os.path.join('config', 'NUC5', '*.yaml'))),
         (os.path.join('share', package_name, 'config', 'NUC6'), glob(os.path.join('config', 'NUC6', '*/*'), recursive=True)),
+        (os.path.join('share', package_name, 'config', 'NUC6'), glob(os.path.join('config', 'NUC6', '*.yaml'))),
         (os.path.join('share', package_name, 'config', 'NUC7'), glob(os.path.join('config', 'NUC7', '*.yaml'))),(os.path.join('share', package_name, 'config', 'NUC7'), glob(os.path.join('config', 'NUC7', '*/*'), recursive=True)),
         (os.path.join('share', package_name, 'config', 'NUC7'), glob(os.path.join('config', 'NUC7', '*.yaml'))),
         (os.path.join('share', package_name, 'config', 'SIM'), glob(os.path.join('config', 'SIM', '*.*'))),