diff --git a/.docker/jazzy.amd64.dockerfile b/.docker/jazzy.amd64.dockerfile
index 9c1b60bc..f2854215 100644
--- a/.docker/jazzy.amd64.dockerfile
+++ b/.docker/jazzy.amd64.dockerfile
@@ -45,7 +45,7 @@ extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Install Ardusub
-ADD https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/\
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/dockertest/\
 extras/ardusub-ubuntu-install.sh install.sh
 RUN bash install.sh
 
diff --git a/.docker/jazzy.arm64v8.dockerfile b/.docker/jazzy.arm64v8.dockerfile
index 54648e5c..e958a038 100644
--- a/.docker/jazzy.arm64v8.dockerfile
+++ b/.docker/jazzy.arm64v8.dockerfile
@@ -101,7 +101,7 @@ extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Install Ardusub
-ADD https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/\
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/dockertest/\
 extras/ardusub-ubuntu-install.sh install.sh
 RUN bash install.sh
 
@@ -162,7 +162,7 @@ RUN mkdir -p /home/docker/.config/autostart && \
     printf '\033[1;32m\n =====\n\033[0m' >> ~/.hi && \
     printf "\\033[1;32m 👋 Hi! This is Docker virtual environment\n\\033[0m" \
     >> ~/.hi && \
-    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic\n\n\n\\033[0m" \
+    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardusub)\n\n\n\\033[0m" \
     >> ~/.hi
 
 # Remove sudo message
diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
index 3b33fe2f..6c8f8095 100644
--- a/extras/ardusub-ubuntu-install.sh
+++ b/extras/ardusub-ubuntu-install.sh
@@ -1,10 +1,22 @@
 #!/bin/bash
 
-mkdir -p "/opt/ardupilot_dave" && cd "/opt/ardupilot_dave" || exit
+mkdir -p "/opt/ardupilot_dave" 2>/dev/null
+if [ $? -ne 0 ]; then
+  echo "Insufficient privileges to create directory in /opt."
+  sudo mkdir -p "/opt/ardupilot_dave" && cd "/opt/ardupilot_dave" || exit
+else
+  mkdir -p "/opt/ardupilot_dave" && cd "/opt/ardupilot_dave" || exit
+fi
+
 # Really should do version pinning but Sub-4.5 is waaaay behind master
 # (e.g. it doesn't know about "noble" yet)
 export ARDUPILOT_RELEASE=master
-git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+mkdir -p "/opt/ardupilot_dave/ardupilot" 2>/dev/null
+if [ $? -ne 0 ]; then
+  sudo git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+else
+  git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+fi
 
 # Install ArduSub dependencies
 cd "/opt/ardupilot_dave/ardupilot" || exit
@@ -18,18 +30,36 @@ Tools/environment_install/install-prereqs-ubuntu.sh -y
 # Build ArduSub
 cd "/opt/ardupilot_dave/ardupilot" || exit
 # needs python binary (e.g. sudo apt install python-is-python3)
-apt-get install -y python-is-python3 python3-future
-modules/waf/waf-light configure --board still \
+mkdir -p "/opt/ardupilot_dave/ardupilot/mktest" 2>/dev/null
+if [ $? -ne 0 ]; then
+  sudo modules/waf/waf-light configure --board still \
+    && sudo modules/waf/waf-light build --target bin/ardusub
+else
+  modules/waf/waf-light configure --board still \
     && modules/waf/waf-light build --target bin/ardusub
+fi
 
 # Clone ardupilot_gazebo code
 cd "/opt/ardupilot_dave" || exit
-git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+mkdir -p "/opt/ardupilot_dave/ardupilot_gazebo" 2>/dev/null
+if [ $? -ne 0 ]; then
+  sudo git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+else
+  git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+fi
 
 # Install ardupilot_gazebo plugin
-mkdir -p "/opt/ardupilot_dave/ardupilot_gazebo/build" \
-&& cd "/opt/ardupilot_dave/ardupilot_gazebo/build" || exit
-cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2
+# Check if the directory creation was successful
+mkdir -p "/opt/ardupilot_dave/ardupilot_gazebo/build" 2>/dev/null
+if [ $? -ne 0 ]; then
+  echo "Insufficient privileges to create directory in /opt. Using sudo for cmake and make."
+  sudo mkdir -p "/opt/ardupilot_dave/ardupilot_gazebo/build" \
+  && cd "/opt/ardupilot_dave/ardupilot_gazebo/build" || exit
+  sudo cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && sudo make -j2
+else
+  cd "/opt/ardupilot_dave/ardupilot_gazebo/build" || exit
+  cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2
+fi
 
 # Add results of ArduSub build
 export PATH=/opt/ardupilot_dave/ardupilot/build/still/bin:\$PATH