diff --git a/mushr_utils/install/Dockerfile b/mushr_utils/install/Dockerfile
index b8b867f..61cac64 100644
--- a/mushr_utils/install/Dockerfile
+++ b/mushr_utils/install/Dockerfile
@@ -1,7 +1,9 @@
 FROM ubuntu:focal
 
-MAINTAINER Matt Schmittle <schmttle@cs.washington.edu>
+LABEL maintainer="Matt Schmittle <schmttle@cs.washington.edu>"
 ARG DEBIAN_FRONTEND=noninteractive
+# 1 = real robot, 0 = sim (laptop)
+ARG REAL
 WORKDIR /root
 
 # Install docker deps for mushr_install 
@@ -22,7 +24,12 @@ ADD src/mushr/mushr_utils/install/install_scripts/mushr_install_deps.bash instal
 RUN chmod +x install_scripts/mushr_install_deps.bash && install_scripts/mushr_install_deps.bash 
 
 # Hardware drivers
-# 1 = real robot, 0 = sim (laptop)
-ARG REAL
 ADD src/mushr/mushr_utils/install/install_scripts/mushr_install_hw_drivers.bash install_scripts/mushr_install_hw_drivers.bash
 RUN if [ "$REAL" = 1 ] ; then chmod +x install_scripts/mushr_install_hw_drivers.bash && install_scripts/mushr_install_hw_drivers.bash ; fi
+
+# Set ROS_IP
+RUN if [ "$REAL" = 1 ] ; then \
+    echo "export ROS_IP=\$(ifconfig wlan0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc ; \
+    else \
+    echo "export ROS_IP=\$(ifconfig eth0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc ; \
+    fi
diff --git a/mushr_utils/install/docker-compose-build-cpu.yml b/mushr_utils/install/docker-compose-build-cpu.yml
index 682996d..27ab532 100644
--- a/mushr_utils/install/docker-compose-build-cpu.yml
+++ b/mushr_utils/install/docker-compose-build-cpu.yml
@@ -14,3 +14,4 @@ services:
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
+      - MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}
diff --git a/mushr_utils/install/docker-compose-build-robot.yml b/mushr_utils/install/docker-compose-build-robot.yml
index 1d54e9d..1370133 100644
--- a/mushr_utils/install/docker-compose-build-robot.yml
+++ b/mushr_utils/install/docker-compose-build-robot.yml
@@ -2,6 +2,7 @@ version: "3.4"
 services:
   mushr_noetic:
     image: mushr/mushr:${MUSHR_OS_TYPE}
+    network_mode: "host"
     build: 
       context: ${MUSHR_WS_PATH}/catkin_ws
       dockerfile: ${MUSHR_INSTALL_PATH}/Dockerfile
@@ -33,3 +34,4 @@ services:
       - QT_X11_NO_MITSHM=1
       - NEVIAID_DRIVER_CAPABILITIES=all
       - NVIDIA_VISIBLE_DEVICES=all
+      - MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}
diff --git a/mushr_utils/install/docker-compose-cpu.yml b/mushr_utils/install/docker-compose-cpu.yml
index 1318d5f..90cb18f 100644
--- a/mushr_utils/install/docker-compose-cpu.yml
+++ b/mushr_utils/install/docker-compose-cpu.yml
@@ -8,3 +8,4 @@ services:
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
+      - MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}
diff --git a/mushr_utils/install/docker-compose-robot.yml b/mushr_utils/install/docker-compose-robot.yml
index 829372a..2bf9cf5 100644
--- a/mushr_utils/install/docker-compose-robot.yml
+++ b/mushr_utils/install/docker-compose-robot.yml
@@ -28,3 +28,4 @@ services:
       - QT_X11_NO_MITSHM=1
       - NEVIAID_DRIVER_CAPABILITIES=all
       - NVIDIA_VISIBLE_DEVICES=all
+      - MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}
diff --git a/mushr_utils/install/install_scripts/mushr_install_deps.bash b/mushr_utils/install/install_scripts/mushr_install_deps.bash
index 69882fa..021a67a 100644
--- a/mushr_utils/install/install_scripts/mushr_install_deps.bash
+++ b/mushr_utils/install/install_scripts/mushr_install_deps.bash
@@ -18,7 +18,7 @@ apt-get update
 apt-get install -y python3-catkin-tools
 
 # Install Cython, PyTorch 1.10 at least!
-pip3 install Cython torch torchvision torchaudio numpy scipy progress --upgrade
+pip3 install Cython torch torchvision torchaudio numpy scipy networkx progress --upgrade
 
 # Create OpenCV symbolic link
 ln -s /usr/include/opencv4 /usr/include/opencv
@@ -35,10 +35,3 @@ rm -rf range_libc
 # Create default RVIZ setup
 mkdir ~/.rviz
 cp ~/catkin_ws/src/mushr/mushr_utils/rviz/default.rviz ~/.rviz/
-
-# Set ROS_IP
-if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
-    echo "export ROS_IP=\$(ifconfig wlan0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc
-else
-    echo "export ROS_IP=\$(ifconfig eth0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc
-fi
diff --git a/mushr_utils/install/install_scripts/mushr_install_hw_drivers.bash b/mushr_utils/install/install_scripts/mushr_install_hw_drivers.bash
index ded2950..8743fa1 100644
--- a/mushr_utils/install/install_scripts/mushr_install_hw_drivers.bash
+++ b/mushr_utils/install/install_scripts/mushr_install_hw_drivers.bash
@@ -23,6 +23,6 @@ qmake -qt=qt5
 make clean & make
 
 # Install push-button drivers
-pip install Jetson.GPIO -y
+pip install Jetson.GPIO
 rm /usr/bin/python
 ln -s /usr/bin/python3 /usr/bin/python
diff --git a/nav-repos.yaml b/nav-repos.yaml
index 9164271..9a02eed 100644
--- a/nav-repos.yaml
+++ b/nav-repos.yaml
@@ -7,3 +7,11 @@ repositories:
     type: git
     url: https://github.com/prl-mushr/mushr_rhc.git
     version: noetic 
+  mushr_gp:
+    type: git
+    url: https://github.com/prl-mushr/mushr_gp.git
+    version: main 
+  mushr_gprm:
+    type: git
+    url: https://github.com/prl-mushr/mushr_gprm.git
+    version: master