diff --git a/Source Code/pico_ws/.devcontainer/Dockerfile b/Source Code/pico_ws/.devcontainer/Dockerfile
index e4acd52..c0da9c8 100644
--- a/Source Code/pico_ws/.devcontainer/Dockerfile	
+++ b/Source Code/pico_ws/.devcontainer/Dockerfile	
@@ -30,6 +30,17 @@ RUN apt-get update \
     && apt-get install -y python3-pip \
     && rm -rf /var/lib/apt/lists/* && apt-get autoremove && apt-get autoclean
 
+# Install OpenSSH Server
+#RUN apt-get update \
+#    && apt-get install -y python3-pip openssh-server \
+#    && rm -rf /var/lib/apt/lists/* && apt-get autoremove && apt-get autoclean
+
+# Set the SSH server port to 44
+#RUN sed -i "s/#Port 22/Port 44/" /etc/ssh/sshd_config
+
+# Set a password for the nonroot user
+#RUN echo "${USERNAME}:nonroot" | chpasswd
+
 # Pico setup
 COPY install_pico.sh /pico_setup.sh
 RUN export NONROOT_USERNAME=${USERNAME} \
diff --git a/Source Code/pico_ws/.devcontainer/devcontainer.json b/Source Code/pico_ws/.devcontainer/devcontainer.json
index 076835c..6093b32 100644
--- a/Source Code/pico_ws/.devcontainer/devcontainer.json	
+++ b/Source Code/pico_ws/.devcontainer/devcontainer.json	
@@ -22,7 +22,7 @@
 
 
 {
-    "name": "MicroROS Workspace",
+    "name": "MicroROS Workspace (Remote)",
     "remoteUser": "nonroot",
     "overrideCommand": true,
     "postCreateCommand": "/devcon_post_create.sh",
diff --git a/Source Code/pico_ws/.devcontainer/install_pico.sh b/Source Code/pico_ws/.devcontainer/install_pico.sh
index b0078ac..e31d9d4 100644
--- a/Source Code/pico_ws/.devcontainer/install_pico.sh	
+++ b/Source Code/pico_ws/.devcontainer/install_pico.sh	
@@ -29,78 +29,55 @@ cd $OUTDIR
 GITHUB_PREFIX="https://github.com/raspberrypi/"
 GITHUB_SUFFIX=".git"
 SDK_BRANCH="1.5.1"
+PICOTOOL_BRANCH="1.1.2"
 
 echo "" >> ~/.bashrc
 echo "" >> /home/$NONROOT_USERNAME/.bashrc
 
-for REPO in sdk examples extras playground
-do
-    DEST="$OUTDIR/pico-$REPO"
-
-    if [ -d $DEST ]; then
-        echo "$DEST already exists so skipping"
-    else
-        REPO_URL="${GITHUB_PREFIX}pico-${REPO}${GITHUB_SUFFIX}"
-        echo "Cloning $REPO_URL"
-        git clone -b $SDK_BRANCH $REPO_URL
-
-        # Any submodules
-        cd $DEST
-        git submodule update --init
-        cd $OUTDIR
-
-        # Define PICO_SDK_PATH in .bashrc
-        VARNAME="PICO_${REPO^^}_PATH"
-        echo "Adding $VARNAME to .bashrc"
-        echo "export $VARNAME=$DEST" >> ~/.bashrc
-        echo "export $VARNAME=$DEST" >> /home/$NONROOT_USERNAME/.bashrc
-        export ${VARNAME}=$DEST
-    fi
-done
+DEST="$OUTDIR/pico-sdk"
 
-cd $OUTDIR
+if [ -d $DEST ]; then
+    echo "$DEST already exists so skipping"
+else
+    REPO_URL="${GITHUB_PREFIX}pico-sdk${GITHUB_SUFFIX}"
+    echo "Cloning $REPO_URL"
+    git clone -b $SDK_BRANCH $REPO_URL
 
-# Pick up new variables we just defined
-source ~/.bashrc
+    # Any submodules
+    cd $DEST
+    git submodule update --init
+    cd $OUTDIR
 
-# Build a couple of examples
-cd "$OUTDIR/pico-examples"
-mkdir build
-cd build
-cmake ../ -DCMAKE_BUILD_TYPE=Debug
+    # Define PICO_SDK_PATH in .bashrc
+    VARNAME="PICO_SDK_PATH"
+    echo "Adding $VARNAME to .bashrc"
+    echo "export $VARNAME=$DEST" >> ~/.bashrc
+    echo "export $VARNAME=$DEST" >> /home/$NONROOT_USERNAME/.bashrc
+    export ${VARNAME}=$DEST
+fi
 
-for e in blink hello_world
-do
-    echo "Building $e"
-    cd $e
-    make -j$JNUM
-    cd ..
-done
+# Pick up new variables we just defined
+source ~/.bashrc
 
 cd $OUTDIR
 
-# Picoprobe and picotool
-for REPO in picoprobe picotool
-do
-    DEST="$OUTDIR/$REPO"
-    REPO_URL="${GITHUB_PREFIX}${REPO}${GITHUB_SUFFIX}"
-    git clone $REPO_URL
+# Picotool
+DEST="$OUTDIR/picotool"
+REPO_URL="${GITHUB_PREFIX}picotool${GITHUB_SUFFIX}"
+git clone --branch $PICOTOOL_BRANCH $REPO_URL
 
-    # Build both
-    cd $DEST
-    git submodule update --init
-    mkdir build
-    cd build
-    cmake ../
-    make -j$JNUM
+# Build both
+cd $DEST
+git submodule update --init
+mkdir build
+cd build
+cmake ../
+make -j$JNUM
 
-    if [[ "$REPO" == "picotool" ]]; then
-        echo "Installing picotool to /usr/local/bin/picotool"
-        cp picotool /usr/local/bin/
-    fi
+echo "Installing picotool to /usr/local/bin/picotool"
+cp picotool /usr/local/bin/
 
-    cd $OUTDIR
-done
+cd $OUTDIR
 
 # Build OpenOCD
 echo "Building OpenOCD"
diff --git a/Source Code/pico_ws/.devcontainer/post_create.sh b/Source Code/pico_ws/.devcontainer/post_create.sh
index cf95327..f6efeb3 100644
--- a/Source Code/pico_ws/.devcontainer/post_create.sh	
+++ b/Source Code/pico_ws/.devcontainer/post_create.sh	
@@ -14,7 +14,7 @@ echo "-> Installing MicroROS tools..."
 sudo apt-get update \
 && rosdep update \
 && cd $HOME/pico_ws/libmicroros \
-&& sudo rosdep install --from-paths src --ignore-src -y \
+&& rosdep install --from-paths src --ignore-src -y \
 && sudo apt-get autoremove && sudo apt-get autoclean \
 && echo "-> Tools installed!"
 
diff --git a/Source Code/pico_ws/.devcontainer/post_start.sh b/Source Code/pico_ws/.devcontainer/post_start.sh
index de9d824..0dd7ee7 100644
--- a/Source Code/pico_ws/.devcontainer/post_start.sh	
+++ b/Source Code/pico_ws/.devcontainer/post_start.sh	
@@ -14,4 +14,7 @@ cd $HOME/pico_ws/libmicroros/src && colcon build
 source $HOME/pico_ws/libmicroros/src/install/local_setup.bash
 cd $HOME/pico_ws
 
+#echo "-> Start SSH server..."
+#sudo service ssh start
+
 echo "--> post_start.sh done!"
\ No newline at end of file
diff --git a/Source Code/pico_ws/CMakeLists.txt b/Source Code/pico_ws/CMakeLists.txt
index 8ffdc23..6418a47 100644
--- a/Source Code/pico_ws/CMakeLists.txt	
+++ b/Source Code/pico_ws/CMakeLists.txt	
@@ -19,7 +19,7 @@
 # Set minimum required version of CMake
 cmake_minimum_required(VERSION 3.12)
 
-# Set project name and Pico A/B name suffixes.
+# Set project name and Pico name suffixes.
 set(PROJ_NAME ROS_Remote)
 set(PICO_NAME ${PROJ_NAME}_Pico)
 
diff --git a/Source Code/pico_ws/src/CMakeLists.txt b/Source Code/pico_ws/src/CMakeLists.txt
index cc1844d..f3d051a 100644
--- a/Source Code/pico_ws/src/CMakeLists.txt	
+++ b/Source Code/pico_ws/src/CMakeLists.txt	
@@ -1,4 +1,4 @@
-#  The ROS remote project - Firmware CMake config 
+#  The ROS remote project - Firmware CMake config
 #  (NOTE: THIS IS NOT THE TOP-LEVEL CMAKE FILE!)
 #  Copyright 2024 Samyar Sadat Akhavi
 #  Written by Samyar Sadat Akhavi, 2024.
diff --git a/Source Code/ros_ws_remote/.devcontainer/devcontainer.json b/Source Code/ros_ws_remote/.devcontainer/devcontainer.json
index a3d3431..1cac1ab 100644
--- a/Source Code/ros_ws_remote/.devcontainer/devcontainer.json	
+++ b/Source Code/ros_ws_remote/.devcontainer/devcontainer.json	
@@ -22,7 +22,7 @@
 
 
 {
-    "name": "ROS 2 Workspace",
+    "name": "ROS 2 Workspace (Remote)",
     "remoteUser": "nonroot",
     "overrideCommand": true,
     "postCreateCommand": "/devcon_post_create.sh",
@@ -57,5 +57,6 @@
                 "--gpus", "all",
                 "-v", "/tmp/.X11-unix:/tmp/.X11-unix:rw",
                 "--env=DISPLAY",
-                "-v", "/dev:/dev"]
+                "-v", "/dev:/dev",
+                "--device-cgroup-rule=c *:* rmw"]
 }
\ No newline at end of file
diff --git a/Source Code/ros_ws_remote/.devcontainer/post_create.sh b/Source Code/ros_ws_remote/.devcontainer/post_create.sh
index 3707085..db61061 100644
--- a/Source Code/ros_ws_remote/.devcontainer/post_create.sh	
+++ b/Source Code/ros_ws_remote/.devcontainer/post_create.sh	
@@ -13,7 +13,7 @@ sudo chown -R nonroot: $HOME/ros_ws/
 #sudo apt-get update \
 #&& rosdep update \
 #&& cd $HOME/pico_ws/libmicroros \
-#&& sudo rosdep install --from-paths src --ignore-src -y \
+#&& rosdep install --from-paths src --ignore-src -y \
 #&& sudo apt-get autoremove && sudo apt-get autoclean \
 #&& echo "-> Tools installed!"