diff --git a/.dockerignore b/.dockerignore
index 1d25e0a..579805f 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -3,7 +3,9 @@
 
 .circleci/
 .vscode/
+.github/
 .dockerignore
 .gitignore
 **Dockerfile
 **.Dockerfile
+Dockerfile.**
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index ac63c45..c996bec 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -9,6 +9,12 @@ updates:
     directory: "/"
     schedule:
       interval: "daily"
+    groups:
+      baseimage-dependencies:
+          patterns:
+            - "tiiuae/fog-ros-sdk"
+            - "tiiuae/fog-ros-baseimage-builder"
+            - "tiiuae/fog-ros-baseimage"
   - package-ecosystem: "github-actions"
     directory: "/"
     schedule:
diff --git a/.github/workflows/tii-depthai-ctrl.yaml b/.github/workflows/tii-depthai-ctrl.yaml
index c283256..5066e59 100644
--- a/.github/workflows/tii-depthai-ctrl.yaml
+++ b/.github/workflows/tii-depthai-ctrl.yaml
@@ -1,56 +1,162 @@
 name: tii-depthai-ctrl
 
 on:
-  repository_dispatch:
-    types: [fog-ros-baseimage-update]
   push:
+  pull_request:
   workflow_dispatch:
+    inputs:
+      build_amd64:
+        description: 'Build for AMD64'
+        required: true
+        default: true
+        type: boolean
+      build_arm64:
+        description: 'Build for ARM64'
+        required: true
+        default: false
+        type: boolean
+      build_riscv64:
+        description: 'Build for RISCV64'
+        required: true
+        default: false
+        type: boolean
+
+permissions:
+  contents: read
+  packages: write
+
+env:
+  REGISTRY_IMAGE: ghcr.io/tiiuae/tii-depthai-ctrl
 
 jobs:
+  prepare:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+      - id: set-matrix
+        run: |
+          default_branch="${{ github.event.repository.default_branch }}"
+          matrix_list=()
+
+          if [[ "${{ github.event_name }}" == "push" && "${{ github.ref }}" == "refs/heads/$default_branch" ]]; then
+            matrix_list=("amd64" "arm64" "riscv64")
+          elif [[ "${{ github.event_name }}" == "pull_request" && "${{ github.base_ref }}" == "$default_branch" ]]; then
+            matrix_list=("amd64" "arm64" "riscv64")
+          elif [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            if [[ "${{ github.event.inputs.build_amd64 }}" == 'true' ]]; then
+            matrix_list+=("amd64")
+            fi
+            if [[ "${{ github.event.inputs.build_arm64 }}" == 'true' ]]; then
+            matrix_list+=("arm64")
+            fi
+            if [[ "${{ github.event.inputs.build_riscv64 }}" == 'true' ]]; then
+            matrix_list+=("riscv64")
+            fi
+          else
+            # Maybe push or some other trigger
+            matrix_list=("amd64")
+          fi
+
+          matrix_json="{\"include\": ["
+          for platform in "${matrix_list[@]}"; do
+            matrix_json+="{\"platform\":\"$platform\"},"
+          done
+          matrix_json="${matrix_json%,}]}"
+          echo "::set-output name=matrix::$matrix_json"
+          echo $matrix_json
+
   build:
+    needs: prepare
     runs-on: ubuntu-latest
+    strategy:
+      matrix: ${{fromJson(needs.prepare.outputs.matrix)}}
+    outputs:
+      short_git_sha: ${{ steps.vars.outputs.SHORT_GIT_SHA }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
 
-      - uses: docker/setup-buildx-action@v2
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: ${{ matrix.platform }}
 
-      - name: Set image tag format without suffix
-        run: |
-          echo "IMAGE_TAG_FORMAT=type=sha" >> $GITHUB_ENV
-        if: github.event_name == 'push'
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
 
-      - name: Set image tag format with suffix
-        # it is possible that run_number should be used instead run_attempt
-        # run_attempt is unique number on every run and run_attempt resets to 1 if re-build is not used
-        # content of image_sha_tag_suffix is defined in fog-ros-baseimage dispatcher workflow.
+      - name: Set short git commit SHA
+        id: vars
         run: |
-          echo "IMAGE_TAG_FORMAT=type=sha,suffix=-${{ github.event.client_payload.image_sha_tag_suffix }}" >> $GITHUB_ENV
-        if: github.event_name == 'repository_dispatch'
+          calculatedSha=$(git rev-parse --short ${{ github.sha }})
+          echo "SHORT_GIT_SHA=$calculatedSha" >> $GITHUB_OUTPUT
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
-          images: ghcr.io/tiiuae/tii-depthai-ctrl
+          images: ${{ env.REGISTRY_IMAGE }}
           tags: |
-            type=ref,event=branch
-            type=semver,pattern={{version}}
-            type=raw,value=latest
-            ${{ env.IMAGE_TAG_FORMAT }}
+            type=ref,event=branch,suffix=-${{ matrix.platform }}
+            type=ref,event=pr,suffix=-${{ matrix.platform }}
+            type=semver,pattern={{version}},suffix=-${{ matrix.platform }}
+            type=sha,suffix=-${{ matrix.platform }}
+            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) && matrix.platform == 'amd64' }}
 
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Build container image and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
+          file: Dockerfile
+          platforms: linux/${{ matrix.platform }}
+          pull: true
           push: true
+          no-cache: false
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
+          provenance: false
+
+  merge:
+    runs-on: ubuntu-latest
+    needs:
+      - prepare
+      - build
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v4
+        with:
+          images: ${{ env.REGISTRY_IMAGE }}
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Create combined image
+        run : |
+            AMEND_LIST=""
+            for platform in $(echo '${{ needs.prepare.outputs.matrix }}' | jq -r '.include[].platform'); do
+              echo "Adding ${{ env.REGISTRY_IMAGE }}:sha-${{ needs.build.outputs.short_git_sha }}-$platform to the amend list"
+              AMEND_LIST+="--amend ${{ env.REGISTRY_IMAGE }}:sha-${{ needs.build.outputs.short_git_sha }}-$platform "
+            done
+            docker manifest create ${{ env.REGISTRY_IMAGE }}:sha-${{ needs.build.outputs.short_git_sha }} $AMEND_LIST
+
+      - name: Push image to the registry
+        run: |
+          docker manifest push ${{ env.REGISTRY_IMAGE }}:sha-${{ needs.build.outputs.short_git_sha }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 46caef2..ca80248 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,34 +1,48 @@
 cmake_minimum_required(VERSION 3.5)
 
+# Without enabling languages, find_package(depthai) fails when it is found in the system
+# It then tries to run find_package(Threads) and that causes an error.
+# Can't define the project(..) here as well, because it then makes hunter to fail
+enable_language(C)
+enable_language(C CXX)
+set(CMAKE_BUILD_TYPE Release)
+
 # all these settings are needed to properly compile depthai-core as subdirectory
 set(BUILD_SHARED_LIBS OFF)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-add_definitions(-DSPDLOG_ACTIVE_LEVEL=6)
-add_definitions(-DSPDLOG_HEADER_ONLY=1)
-add_definitions(-DFMT_HEADER_ONLY=1)
-set(HUNTER_CONFIGURATION_TYPES ${CMAKE_BUILD_TYPE}) # makes possible to compile also Debug build
-add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/depthai-core ${CMAKE_CURRENT_BINARY_DIR}/depthai-core EXCLUDE_FROM_ALL)
+message(STATUS "-*-*-*- trying to find depthai library -*-*-*-")
+find_package(depthai QUIET)
+if(depthai_FOUND)
+  message(STATUS "-*-*-*- depthai found -*-*-*-")
+else()
+  message(STATUS "-*-*-*- depthai not found -*-*-*-")
+  add_definitions(-DSPDLOG_ACTIVE_LEVEL=6)
+  add_definitions(-DSPDLOG_HEADER_ONLY=1)
+  add_definitions(-DFMT_HEADER_ONLY=1)
+  set(HUNTER_CONFIGURATION_TYPES ${CMAKE_BUILD_TYPE}) # makes possible to compile also Debug build
+  add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/depthai-core ${CMAKE_CURRENT_BINARY_DIR}/depthai-core EXCLUDE_FROM_ALL)
+endif()
 
 option(BUILD_GSTREAMER "enable building gstreamer" OFF)
 if(DEFINED ENV{BUILD_GSTREAMER})
   set(BUILD_GSTREAMER "$ENV{BUILD_GSTREAMER}")
 endif()
 
-project(depthai_ctrl)
+project(depthai_ctrl LANGUAGES CXX C)
 
-# pkg-config configurations path.
-if(NOT DEFINED ENV{PKG_CONFIG_PATH})
-  set(ENV{PKG_CONFIG_PATH} "/usr/lib/x86_64-linux-gnu/pkgconfig/")
-else()
-  string(FIND "/usr/lib/x86_64-linux-gnu/pkgconfig/" $ENV{PKG_CONFIG_PATH} POS_INC_PATH)
-  if(${POS_INC_PATH} STREQUAL "-1")
-    set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:/usr/lib/x86_64-linux-gnu/pkgconfig/")
-  endif()
-endif()
+# # pkg-config configurations path.
+# if(NOT DEFINED ENV{PKG_CONFIG_PATH})
+#   set(ENV{PKG_CONFIG_PATH} "/usr/lib/x86_64-linux-gnu/pkgconfig/")
+# else()
+#   string(FIND "/usr/lib/x86_64-linux-gnu/pkgconfig/" $ENV{PKG_CONFIG_PATH} POS_INC_PATH)
+#   if(${POS_INC_PATH} STREQUAL "-1")
+#     set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:/usr/lib/x86_64-linux-gnu/pkgconfig/")
+#   endif()
+# endif()
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -44,7 +58,11 @@ if(NOT OpenCV_FOUND)
   find_package(OpenCV ${opencv_version} REQUIRED COMPONENTS imgproc highgui)
 endif()
 
-#find_package(ament_cmake REQUIRED)
+find_package(ament_cmake REQUIRED)
+# find_package(libyaml_vendor REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(yaml REQUIRED)
+
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(image_transport REQUIRED)
@@ -54,8 +72,6 @@ find_package(sensor_msgs REQUIRED)
 find_package(stereo_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(vision_msgs REQUIRED)
-find_package(PkgConfig REQUIRED)
-
 
 find_package(nlohmann_json REQUIRED)
 
@@ -104,13 +120,13 @@ target_link_libraries(depthai_bridge PUBLIC depthai-core opencv_imgproc opencv_h
 message(STATUS "--------------------------$ENV{ROS_DISTRO} ---")
 message(STATUS $ENV{ROS_DISTRO})
 
-if($ENV{ROS_DISTRO} STREQUAL "galactic" OR ($ENV{ROS_DISTRO} STREQUAL "rolling" AND "${ubuntu_version}" STREQUAL "20.04\n"))
-  target_compile_definitions(depthai_bridge PRIVATE IS_GALACTIC)
-endif()
+# if($ENV{ROS_DISTRO} STREQUAL "galactic" OR ($ENV{ROS_DISTRO} STREQUAL "rolling" AND "${ubuntu_version}" STREQUAL "20.04\n"))
+#   target_compile_definitions(depthai_bridge PRIVATE IS_GALACTIC)
+# endif()
 
-if($ENV{ROS_DISTRO} STREQUAL "humble")
+# if($ENV{ROS_DISTRO} STREQUAL "humble")
   target_compile_definitions(depthai_bridge PRIVATE IS_HUMBLE)
-endif()
+# endif()
 
 # DepthAI Camera as Component library
 add_library(depthai_camera SHARED src/depthai_camera.cpp)
diff --git a/Dockerfile b/Dockerfile
index bd9d967..c6ba0ed 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,46 +1,57 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0 AS builder
-ARG BUILD_GSTREAMER
-# TODO: not sure how many of these deps are actually needed for building. at least this:
-# libusb-1.0-0-dev
-# gstreamer-1.0 (<-- but not sure which package brings this)
-RUN apt-get update -y && apt-get install -y --no-install-recommends \
-    libusb-1.0-0-dev \
-    nlohmann-json3-dev \
-    libopencv-dev \
-    && rm -rf /var/lib/apt/lists/*
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:v3.0.1-${TARGETARCH:-amd64} AS builder
+
+ARG TARGETARCH
 
-RUN if [ -n "$BUILD_GSTREAMER" ]; then \
-    apt-get update -y && apt-get install -y --no-install-recommends \
-    libgstreamer1.0-0 \
-    libgstreamer-plugins-base1.0-dev \
-    libgstreamer-plugins-bad1.0-dev \
-    libgstreamer-plugins-good1.0-dev \
-    libgstrtspserver-1.0-dev \
-    libgstreamer-plugins-base1.0-0 \
-    libgstreamer-plugins-good1.0-0 \
-    gstreamer1.0-x \
-    && rm -rf /var/lib/apt/lists/*; \
-    fi
+RUN apt update \
+    && apt install -y --no-install-recommends \
+        curl \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN curl https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob \
     -o /tmp/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob
 
 COPY . /main_ws/src/
 
-RUN if [ -n "$BUILD_GSTREAMER" ]; then \
-    mv /main_ws/src/debian/control.em.gstreamer /main_ws/src/debian/control.em; \
-    fi
+# There is a file at /sdk_install/sysroots/core2-64-oe-linux/usr/include/depthai-shared/common/optional.hpp which has the 
+# which has the line '#include "tl/optional.hpp"', change it to this with sed: '#include "depthai-shared/3rdparty/tl/optional.hpp"'
+RUN YOCTO_TARGET_ARCH=$(/packaging/arch_translation.sh ${TARGETARCH:-amd64}) && \
+    sed -i 's/#include "tl\/optional.hpp"/#include "depthai-shared\/3rdparty\/tl\/optional.hpp"/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/include/depthai-shared/common/optional.hpp && \
+    sed -i 's/#include "tl\/optional.hpp"/#include "depthai-shared\/3rdparty\/tl\/optional.hpp"/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/include/depthai/pipeline/Node.hpp
+
+# CV Bridge cmake file has host contamination, which leads to failure in the build.
+# This hardcoded path will be different for each of the build. So, the sed command should find the place using OpenCV_CONFIG_PATH and OpenCV_INSTALL_PATH tags
+RUN YOCTO_TARGET_ARCH=$(/packaging/arch_translation.sh ${TARGETARCH:-amd64}) && \
+    sed -i 's/set(OpenCV_CONFIG_PATH .*)/set(OpenCV_CONFIG_PATH \/sdk_install\/sysroots\/${YOCTO_TARGET_ARCH}-oe-linux\/usr\/lib\/cmake\/opencv4)/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/share/cv_bridge/cmake/cv_bridge-extras.cmake && \
+    sed -i 's/set(OpenCV_INSTALL_PATH .*)/set(OpenCV_INSTALL_PATH \/sdk_install\/sysroots\/${YOCTO_TARGET_ARCH}-oe-linux\/usr)/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/share/cv_bridge/cmake/cv_bridge-extras.cmake
+
+WORKDIR /main_ws
 
-# this:
-# 1) builds the application
-# 2) packages the application as .deb in /main_ws/
-RUN BUILD_GSTREAMER=$BUILD_GSTREAMER /packaging/build.sh
+RUN /packaging/build_colcon_sdk.sh ${TARGETARCH:-amd64}
 
 #  ▲               runtime ──┐
 #  └── build                 ▼
 
-FROM ghcr.io/tiiuae/fog-ros-baseimage:v2.1.0
-ARG BUILD_GSTREAMER
+FROM ghcr.io/tiiuae/fog-ros-baseimage:v3.0.1
+
+RUN apt update \
+    && apt install -y --no-install-recommends \
+        libusb-1.0-0 \
+        eudev-staticdev \
+        nlohmann-json-dev \
+        yaml-cpp-vendor \
+        cv-bridge \
+        vision-msgs \
+        camera-info-manager \
+        camera-calibration-parsers \
+        xacro \
+        image-transport \
+        libyaml-cpp0.6 \
+        libyaml-0-staticdev \
+        libyaml-vendor \
+        libopencv-ts \
+        opencv-staticdev \
+        libdepthai-core20 \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir /depthai_configs
 COPY --from=builder /main_ws/src/params /depthai_configs/.
@@ -53,29 +64,4 @@ ENTRYPOINT [ "/entrypoint.sh" ]
 
 COPY entrypoint.sh /entrypoint.sh
 
-COPY --from=builder /main_ws/ros-*-depthai-ctrl_*_amd64.deb /depthai.deb
-# need update because ROS people have a habit of removing old packages pretty fast
-RUN apt-get update -y && apt-get install -y --no-install-recommends \
-    libusb-1.0-0-dev \
-    libopencv-dev \
-    ros-${ROS_DISTRO}-vision-msgs \
-    ros-${ROS_DISTRO}-camera-info-manager \
-    ros-${ROS_DISTRO}-cv-bridge \
-    ros-${ROS_DISTRO}-robot-state-publisher \
-    ros-${ROS_DISTRO}-image-transport \
-    ros-$ROS_DISTRO-xacro \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN if [ -n "$BUILD_GSTREAMER" ]; then \
-    apt-get update -y && apt-get install -y --no-install-recommends \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-plugins-ugly \
-    gir1.2-gst-rtsp-server-1.0 \
-    gstreamer1.0-libav \
-    gstreamer1.0-rtsp \
-    && rm -rf /var/lib/apt/lists/*; \
-    fi
-
-RUN ln -s /usr/bin/true /usr/bin/udevadm \
-    && dpkg -i /depthai.deb && rm /depthai.deb \
-    && rm -f /usr/bin/udevadm
+COPY --from=builder $INSTALL_DIR $INSTALL_DIR
diff --git a/Dockerfile.ros b/Dockerfile.ros
new file mode 100644
index 0000000..2e2655f
--- /dev/null
+++ b/Dockerfile.ros
@@ -0,0 +1,87 @@
+# This is a legacy building format with ros:humble-base and ubuntu as the base.
+# Legacy format is not maintained anymore, see /Dockerfile for multiarch building with Yocto and OpenEmbedded.
+FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0 AS builder
+ARG BUILD_GSTREAMER
+# TODO: not sure how many of these deps are actually needed for building. at least this:
+# libusb-1.0-0-dev
+# gstreamer-1.0 (<-- but not sure which package brings this)
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    libusb-1.0-0-dev \
+    nlohmann-json3-dev \
+    libopencv-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN if [ -n "$BUILD_GSTREAMER" ]; then \
+    apt-get update -y && apt-get install -y --no-install-recommends \
+    libgstreamer1.0-0 \
+    libgstreamer-plugins-base1.0-dev \
+    libgstreamer-plugins-bad1.0-dev \
+    libgstreamer-plugins-good1.0-dev \
+    libgstrtspserver-1.0-dev \
+    libgstreamer-plugins-base1.0-0 \
+    libgstreamer-plugins-good1.0-0 \
+    gstreamer1.0-x \
+    && rm -rf /var/lib/apt/lists/*; \
+    fi
+
+RUN curl https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob \
+    -o /tmp/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob
+
+COPY . /main_ws/src/
+
+RUN if [ -n "$BUILD_GSTREAMER" ]; then \
+    mv /main_ws/src/debian/control.em.gstreamer /main_ws/src/debian/control.em; \
+    fi
+
+# this:
+# 1) builds the application
+# 2) packages the application as .deb in /main_ws/
+RUN BUILD_GSTREAMER=$BUILD_GSTREAMER /packaging/build.sh
+
+#  ▲               runtime ──┐
+#  └── build                 ▼
+
+FROM ghcr.io/tiiuae/fog-ros-baseimage:v2.1.0
+ARG BUILD_GSTREAMER
+
+RUN mkdir /depthai_configs
+COPY --from=builder /main_ws/src/params /depthai_configs/.
+COPY --from=builder /tmp/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob /depthai_configs/.
+
+VOLUME /depthai_configs
+ENV DEPTHAI_PARAM_FILE /depthai_configs/parameters.yaml
+
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+COPY entrypoint.sh /entrypoint.sh
+
+COPY --from=builder /main_ws/ros-*-depthai-ctrl_*_amd64.deb /depthai.deb
+# The multi-arch build has the unnecessary line "/etc/init.d/udev start" for udev rules.
+# Not needed in ubuntu OS baseimage
+RUN sed -i '/\/etc\/init.d\/udev start/d' /entrypoint.sh
+
+# need update because ROS people have a habit of removing old packages pretty fast
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    libusb-1.0-0-dev \
+    libopencv-dev \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-camera-info-manager \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-robot-state-publisher \
+    ros-${ROS_DISTRO}-image-transport \
+    ros-$ROS_DISTRO-xacro \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN if [ -n "$BUILD_GSTREAMER" ]; then \
+    apt-get update -y && apt-get install -y --no-install-recommends \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly \
+    gir1.2-gst-rtsp-server-1.0 \
+    gstreamer1.0-libav \
+    gstreamer1.0-rtsp \
+    && rm -rf /var/lib/apt/lists/*; \
+    fi
+
+RUN ln -s /usr/bin/true /usr/bin/udevadm \
+    && dpkg -i /depthai.deb && rm /depthai.deb \
+    && rm -f /usr/bin/udevadm
diff --git a/depthai-core b/depthai-core
index 2ee9ebf..125feb8 160000
--- a/depthai-core
+++ b/depthai-core
@@ -1 +1 @@
-Subproject commit 2ee9ebf6b1638250c77b0354a12cd1edbafc98dc
+Subproject commit 125feb8c2e16ee4bf71b7873a7b990f1c5f17b18
diff --git a/entrypoint.sh b/entrypoint.sh
index d945333..fbd7c40 100755
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -8,7 +8,7 @@ _term() {
         pattern="depthai_ctrl/camera_node"
     fi
 
-    pid_value="$(ps -ax | grep $pattern | grep -v grep | awk '{ print $1 }')"
+    pid_value="$(ps -e | grep $pattern | grep -v grep | awk '{ print $1 }')"
     if [ "$pid_value" != "" ]; then
         pid=$pid_value
         echo "Send SIGINT to pid $pid"
@@ -49,7 +49,11 @@ fi
 if [ "${USE_AUTO_FOCUS}" = "1" ]; then
     ROS_FLAGS="${ROS_FLAGS} use_auto_focus:=true"
 fi
-
+# This is required for multiarch images. Without this udev start, depthai library fails to find XLink connection to device.
+# The reason is that depthai camera switches to onboard processor when initialized, and causing USB device name changed.
+# Old version with ubuntu base worked OK for hotplug, but this one does not.
+# This could cause problem on the host machine, causing some USB devices to disconnect and require a unplug-replug.
+/etc/init.d/udev start
 mode="${1}"
 if [ "${mode}" = "gstreamer" ]; then
     ros-with-env ros2 run depthai_ctrl gstreamer_node \