diff --git a/Unity/build.sh b/Unity/build.sh
index 5e0aa93845..cee09b0b09 100755
--- a/Unity/build.sh
+++ b/Unity/build.sh
@@ -18,8 +18,8 @@ fi
 
 cd linux-build
 if [ "$(uname)" == "Darwin" ]; then
-    export CC=/usr/local/opt/llvm@8/bin/clang
-    export CXX=/usr/local/opt/llvm@8/bin/clang++
+    export CC=/usr/local/opt/llvm@12/bin/clang
+    export CXX=/usr/local/opt/llvm@12/bin/clang++
 else
     export CC="clang-8"
     export CXX="clang++-8"
diff --git a/build.sh b/build.sh
index 8b45d64ba1..9d9fb85cef 100755
--- a/build.sh
+++ b/build.sh
@@ -64,11 +64,11 @@ if [ "$(uname)" == "Darwin" ]; then
     export CXX="$(brew --prefix)/opt/llvm/bin/clang++"
 else
     if $gcc; then
-        export CC="gcc-8"
-        export CXX="g++-8"
+        export CC="gcc-12"
+        export CXX="g++-12"
     else
-        export CC="clang-8"
-        export CXX="clang++-8"
+        export CC="clang-12"
+        export CXX="clang++-12"
     fi
 fi
 
diff --git a/cmake/cmake-modules/CommonSetup.cmake b/cmake/cmake-modules/CommonSetup.cmake
index 11d0c9bcb2..f814b18fca 100644
--- a/cmake/cmake-modules/CommonSetup.cmake
+++ b/cmake/cmake-modules/CommonSetup.cmake
@@ -59,9 +59,9 @@ macro(CommonSetup)
             if (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
                 set(CMAKE_CXX_FLAGS "-stdlib=libc++ -Wno-documentation -Wno-unknown-warning-option ${CMAKE_CXX_FLAGS}")
                 find_package(LLVM REQUIRED CONFIG)
-                set(CXX_EXP_LIB "-L${LLVM_LIBRARY_DIRS} -lc++fs -ferror-limit=10")
+                set(CXX_EXP_LIB "-L${LLVM_LIBRARY_DIRS} -ferror-limit=10")
             else()
-                set(CXX_EXP_LIB "-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
+                set(CXX_EXP_LIB "-fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
             endif ()
         endif ()
 
diff --git a/ros2/src/airsim_ros_pkgs/CMakeLists.txt b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
index 6d961a430f..40233c5fff 100644
--- a/ros2/src/airsim_ros_pkgs/CMakeLists.txt
+++ b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(image_transport REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(mavros_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(mavros_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
@@ -22,6 +23,8 @@ find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_default_runtime REQUIRED)
 find_package(airsim_interfaces REQUIRED)
 find_package(OpenCV REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(mavros_msgs REQUIRED)
 
 set(AIRSIM_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../)
 
@@ -30,11 +33,13 @@ add_subdirectory("${AIRSIM_ROOT}/cmake/AirLib" AirLib)
 add_subdirectory("${AIRSIM_ROOT}/cmake/MavLinkCom" MavLinkCom)
 
 set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_FLAGS "-O3 -Wall -Wextra -Wnoexcept -Wstrict-null-sentinel")
+# set(CMAKE_CXX_FLAGS "-O3 -Wall -Wextra -Wnoexcept -Wstrict-null-sentinel")
+# Added -Wno-deprecated-copy to fix Eigen warnings on newer GCC
+set(CMAKE_CXX_FLAGS "-O3 -Wall -Wextra -Wnoexcept -Wstrict-null-sentinel -Wno-deprecated-copy -Wno-format-security")
 set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs 
 -l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
 -lm -lc -lgcc_s -lgcc
--lstdc++fs -fmax-errors=10")
+-fmax-errors=10")
 set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.3.0/include")
 set(RPC_LIB rpc)
 message(STATUS "found RPC_LIB_INCLUDES=${RPC_LIB_INCLUDES}")
@@ -46,6 +51,8 @@ set(INCLUDE_DIRS include
   ${AIRSIM_ROOT}/MavLinkCom/include
   ${AIRSIM_ROOT}/MavLinkCom/common_utils
   ${OpenCV_INCLUDE_DIRS}
+  ${std_srvs_INCLUDE_DIRS}    
+  ${mavros_msgs_INCLUDE_DIRS}
   )
 include_directories(${INCLUDE_DIRS})
 
@@ -59,6 +66,8 @@ ament_target_dependencies(pd_position_controller_simple
   nav_msgs
   geometry_msgs
   airsim_interfaces
+  tf2
+  tf2_geometry_msgs
 )
 
 add_library(airsim_ros src/airsim_ros_wrapper.cpp)
@@ -72,12 +81,18 @@ ament_target_dependencies(airsim_ros
   tf2_ros
   cv_bridge
   airsim_interfaces
+  tf2
+  tf2_geometry_msgs
+  mavros_msgs
+  std_srvs
 )
 
 add_executable(airsim_node src/airsim_node.cpp)
 target_link_libraries(airsim_node airsim_ros AirLib)
 ament_target_dependencies(airsim_node 
   rclcpp
+  tf2
+  tf2_geometry_msgs
 )
 
 add_executable(pd_position_controller_simple_node
@@ -86,6 +101,8 @@ target_link_libraries(pd_position_controller_simple_node
   pd_position_controller_simple airsim_ros AirLib)
 ament_target_dependencies(pd_position_controller_simple_node 
   rclcpp
+  tf2
+  tf2_geometry_msgs
 )
 
 # rosidl_target_interfaces(airsim_node
diff --git a/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h b/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h
index b2424b27f3..114678964f 100644
--- a/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h
+++ b/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h
@@ -15,7 +15,7 @@ STRICT_MODE_OFF //todo what does this do?
 #include <rclcpp/rclcpp.hpp>
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <math.h>
 #include <airsim_interfaces/msg/vel_cmd.hpp>
@@ -136,4 +136,4 @@ class PIDPositionController
     rclcpp::TimerBase::SharedPtr update_control_cmd_timer_;
 };
 
-#endif /* _PID_POSITION_CONTROLLER_SIMPLE_ */
\ No newline at end of file
+#endif /* _PID_POSITION_CONTROLLER_SIMPLE_ */
diff --git a/ros2/src/airsim_ros_pkgs/include/utils.h b/ros2/src/airsim_ros_pkgs/include/utils.h
index a62f691a63..cb47e5a433 100755
--- a/ros2/src/airsim_ros_pkgs/include/utils.h
+++ b/ros2/src/airsim_ros_pkgs/include/utils.h
@@ -1,4 +1,4 @@
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 namespace utils
 {
 inline double get_yaw_from_quat_msg(const geometry_msgs::msg::Quaternion& quat_msg)
@@ -11,4 +11,4 @@ inline double get_yaw_from_quat_msg(const geometry_msgs::msg::Quaternion& quat_m
 }
 
 // OdometryEuler get_eigen_odom_from_rosmsg(const nav::msgs &odom_msg);
-}
\ No newline at end of file
+}
diff --git a/ros2/src/airsim_ros_pkgs/package.xml b/ros2/src/airsim_ros_pkgs/package.xml
index 74d1f44f20..4951a2eed7 100644
--- a/ros2/src/airsim_ros_pkgs/package.xml
+++ b/ros2/src/airsim_ros_pkgs/package.xml
@@ -35,6 +35,7 @@
   <exec_depend>image_transport</exec_depend>
   <exec_depend>message_generation</exec_depend>
   <exec_depend>message_runtime</exec_depend>
+  <exec_depend>mavros_msgs</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>rclpy</exec_depend>
diff --git a/setup.sh b/setup.sh
index fd0b71e203..2a614719f5 100755
--- a/setup.sh
+++ b/setup.sh
@@ -50,7 +50,7 @@ else #linux
         software-properties-common \
         wget \
         libvulkan1 \
-        vulkan-utils
+        vulkan-tools
 
     #install clang and build tools
     VERSION=$(lsb_release -rs | cut -d. -f1)
@@ -60,7 +60,7 @@ else #linux
         wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
         sudo apt-get update
     fi
-    sudo apt-get install -y clang-8 clang++-8 libc++-8-dev libc++abi-8-dev
+    sudo apt-get install -y clang-12 clang++-12 libc++-12-dev libc++abi-12-dev
 fi
 
 if ! which cmake; then