diff --git a/factory/18.04/stretch_create_catkin_workspace.sh b/factory/18.04/stretch_create_catkin_workspace.sh
index 7b1d9df..1082bda 100755
--- a/factory/18.04/stretch_create_catkin_workspace.sh
+++ b/factory/18.04/stretch_create_catkin_workspace.sh
@@ -45,6 +45,8 @@ if [[ -d $CATKIN_WSDIR ]]; then
     prompt_yes_no
 fi
 
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
 echo "Deleting $CATKIN_WSDIR if it already exists..."
 sudo rm -rf $CATKIN_WSDIR
 # see http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment for details
diff --git a/factory/18.04/stretch_initial_setup.sh b/factory/18.04/stretch_initial_setup.sh
index e0895de..47f914b 100755
--- a/factory/18.04/stretch_initial_setup.sh
+++ b/factory/18.04/stretch_initial_setup.sh
@@ -81,8 +81,8 @@ if [ $do_factory_install = 'false' ]; then
         echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
         exit 1
     fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
 fi
-chmod -R a+r $HOME/$HELLO_FLEET_ID
 
 echo "Waiting to get online..."
 while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
@@ -129,7 +129,7 @@ else
 fi
 
 echo "Setting up UDEV rules..."
-sudo cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
 sudo udevadm control --reload
 
 echo "Allow shutdown without password..."
diff --git a/factory/20.04/stretch_create_catkin_workspace.sh b/factory/20.04/stretch_create_catkin_workspace.sh
index 334b271..e013727 100755
--- a/factory/20.04/stretch_create_catkin_workspace.sh
+++ b/factory/20.04/stretch_create_catkin_workspace.sh
@@ -45,6 +45,8 @@ if [[ -d $CATKIN_WSDIR ]]; then
     prompt_yes_no
 fi
 
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
 echo "Updating rosdep indices..."
 rosdep update --include-eol-distros &>> $REDIRECT_LOGFILE
 echo "Deleting $CATKIN_WSDIR if it already exists..."
diff --git a/factory/20.04/stretch_initial_setup.sh b/factory/20.04/stretch_initial_setup.sh
index a506e17..91dc609 100755
--- a/factory/20.04/stretch_initial_setup.sh
+++ b/factory/20.04/stretch_initial_setup.sh
@@ -80,8 +80,8 @@ if [ $do_factory_install = 'false' ]; then
         echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
         exit 1
     fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
 fi
-chmod -R a+r $HOME/$HELLO_FLEET_ID
 
 echo "Waiting to get online..."
 while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
@@ -128,7 +128,7 @@ else
 fi
 
 echo "Setting up UDEV rules..."
-sudo cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
 sudo udevadm control --reload
 
 echo "Allow shutdown without password..."
diff --git a/factory/22.04/stretch_create_ament_workspace.sh b/factory/22.04/stretch_create_ament_workspace.sh
index 579216b..589d426 100755
--- a/factory/22.04/stretch_create_ament_workspace.sh
+++ b/factory/22.04/stretch_create_ament_workspace.sh
@@ -46,6 +46,9 @@ if [[ -d $AMENT_WSDIR ]]; then
     prompt_yes_no
 fi
 
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+
 echo "Downgrade to numpy 1.26.4..."
 pip3 install numpy==1.26.4 &>> $REDIRECT_LOGFILE
 
diff --git a/factory/22.04/stretch_initial_setup.sh b/factory/22.04/stretch_initial_setup.sh
index 68d9a82..7e6695b 100755
--- a/factory/22.04/stretch_initial_setup.sh
+++ b/factory/22.04/stretch_initial_setup.sh
@@ -80,8 +80,8 @@ if [ $do_factory_install = 'false' ]; then
         echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
         exit 1
     fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
 fi
-chmod -R a+r $HOME/$HELLO_FLEET_ID
 
 echo "Waiting to get online..."
 while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
@@ -128,7 +128,7 @@ else
 fi
 
 echo "Setting up UDEV rules..."
-sudo cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
 sudo udevadm control --reload
 
 echo "Allow shutdown without password..."
diff --git a/factory/24.04/hello_robot_audio.desktop b/factory/24.04/hello_robot_audio.desktop
new file mode 100644
index 0000000..2d99cb8
--- /dev/null
+++ b/factory/24.04/hello_robot_audio.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_audio
+Exec=/usr/bin/hello_robot_audio.sh
+Hidden=false
+X-GNOME-Autostart-enabled=true
diff --git a/factory/24.04/hello_robot_audio.sh b/factory/24.04/hello_robot_audio.sh
new file mode 100755
index 0000000..b1a35ea
--- /dev/null
+++ b/factory/24.04/hello_robot_audio.sh
@@ -0,0 +1,6 @@
+#! /bin/bash
+sleep 5
+pactl set-default-sink alsa_output.pci-0000_00_1f.3.analog-stereo
+amixer set Master 80%
+paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /usr/share/sounds/ubuntu/stereo/desktop-login.ogg
+
diff --git a/factory/24.04/hello_robot_gamepad_teleop.desktop b/factory/24.04/hello_robot_gamepad_teleop.desktop
new file mode 100644
index 0000000..924c0a1
--- /dev/null
+++ b/factory/24.04/hello_robot_gamepad_teleop.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_gamepad_teleop
+Exec=/usr/bin/hello_robot_gamepad_teleop.sh
+Hidden=false
+X-GNOME-Autostart-enabled=false
diff --git a/factory/24.04/hello_robot_gamepad_teleop.sh b/factory/24.04/hello_robot_gamepad_teleop.sh
new file mode 100755
index 0000000..eda051b
--- /dev/null
+++ b/factory/24.04/hello_robot_gamepad_teleop.sh
@@ -0,0 +1,6 @@
+#! /bin/bash
+
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+/usr/bin/python3 $HOME/.local/bin/stretch_gamepad_teleop.py &>> "$HOME/stretch_user/log/hello_robot_gamepad_teleop.`date '+%Y%m%d%H%M'`.log"
diff --git a/factory/24.04/hello_robot_lrf_off.desktop b/factory/24.04/hello_robot_lrf_off.desktop
new file mode 100644
index 0000000..aec0cb9
--- /dev/null
+++ b/factory/24.04/hello_robot_lrf_off.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_lrf_off
+Exec= /usr/bin/hello_robot_lrf_off.py
+Hidden=false
+X-GNOME-Autostart-enabled=true
diff --git a/factory/24.04/hello_robot_lrf_off.py b/factory/24.04/hello_robot_lrf_off.py
new file mode 100755
index 0000000..9edee8f
--- /dev/null
+++ b/factory/24.04/hello_robot_lrf_off.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+import serial
+import time
+#This script keeps the lrf port open while the computer is on
+#This has the effect of keeping the DTR line high to the LRF, which in turn turns the motor off
+#So long as one port is open on the serail the DTR remains high (see HUPcL in termios)
+#Other programs can still open/close/read/write the port independent of this script
+sp=serial.Serial('/dev/hello-lrf',115200,parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, dsrdtr=True)
+while True:
+    time.sleep(1.0)
diff --git a/factory/24.04/hello_robot_pimu_ping.desktop b/factory/24.04/hello_robot_pimu_ping.desktop
new file mode 100644
index 0000000..dd16232
--- /dev/null
+++ b/factory/24.04/hello_robot_pimu_ping.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_pimu_ping
+Exec= /usr/bin/hello_robot_pimu_ping.sh
+Hidden=false
+X-GNOME-Autostart-enabled=true
diff --git a/factory/24.04/hello_robot_pimu_ping.py b/factory/24.04/hello_robot_pimu_ping.py
new file mode 100755
index 0000000..ae128bf
--- /dev/null
+++ b/factory/24.04/hello_robot_pimu_ping.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import stretch_body.pimu
+import time
+#This script establishes communications with the Pimu at launch then shutsdown
+#This has the effect of letting the Pimu know that Ubuntu Desktop is live (which drives its LightBar state machine)
+
+print('Starting up Pimu Ping on %s'%time.asctime())
+ping_success=False
+for i in range(10):
+    p = stretch_body.pimu.Pimu()
+    if p.startup():
+        print('Successful ping of Pimu on try %d'%i)
+        p.stop()
+        exit(0)
+    p.stop()
+    time.sleep(1.0)
+
+print('Failed to ping Pimu')
diff --git a/factory/24.04/hello_robot_pimu_ping.sh b/factory/24.04/hello_robot_pimu_ping.sh
new file mode 100755
index 0000000..a6fe92e
--- /dev/null
+++ b/factory/24.04/hello_robot_pimu_ping.sh
@@ -0,0 +1,7 @@
+#! /bin/bash
+
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+
+/usr/bin/python3 /usr/bin/hello_robot_pimu_ping.py &>> "$HOME/stretch_user/log/hello_robot_pimu_ping.`date '+%Y%m%d%H%M'`.log"
diff --git a/factory/24.04/hello_robot_xbox_teleop.desktop b/factory/24.04/hello_robot_xbox_teleop.desktop
new file mode 100644
index 0000000..8af1ad7
--- /dev/null
+++ b/factory/24.04/hello_robot_xbox_teleop.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_xbox_teleop
+Exec=/usr/bin/hello_robot_xbox_teleop.sh
+Hidden=false
+X-GNOME-Autostart-enabled=false
diff --git a/factory/24.04/hello_robot_xbox_teleop.sh b/factory/24.04/hello_robot_xbox_teleop.sh
new file mode 100755
index 0000000..6a95511
--- /dev/null
+++ b/factory/24.04/hello_robot_xbox_teleop.sh
@@ -0,0 +1,6 @@
+#! /bin/bash
+
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+/usr/bin/python3 $HOME/.local/bin/stretch_xbox_controller_teleop.py &>> "$HOME/stretch_user/log/hello_robot_xbox_teleop.`date '+%Y%m%d%H%M'`.log"
diff --git a/factory/24.04/hello_sudoers b/factory/24.04/hello_sudoers
new file mode 100644
index 0000000..41457ab
--- /dev/null
+++ b/factory/24.04/hello_sudoers
@@ -0,0 +1 @@
+ALL ALL=(ALL) NOPASSWD: /sbin/shutdown
diff --git a/factory/24.04/motd/00-header b/factory/24.04/motd/00-header
new file mode 100644
index 0000000..407bfcf
--- /dev/null
+++ b/factory/24.04/motd/00-header
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+#    00-header - create the header of the MOTD
+#    Copyright (C) 2009-2010 Canonical Ltd.
+#
+#    Authors: Dustin Kirkland <kirkland@canonical.com>
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License along
+#    with this program; if not, write to the Free Software Foundation, Inc.,
+#    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+[ -r /etc/lsb-release ] && . /etc/lsb-release
+
+if [ -z "$DISTRIB_DESCRIPTION" ] && [ -x /usr/bin/lsb_release ]; then
+	# Fall back to using the very slow lsb_release utility
+	DISTRIB_DESCRIPTION=$(lsb_release -s -d)
+fi
+
+printf "Welcome to Stretch's %s Distribution\n" "$DISTRIB_RELEASE"
+printf "based on %s (%s %s %s)\n" "$DISTRIB_DESCRIPTION" "$(uname -o)" "$(uname -r)" "$(uname -m)"
diff --git a/factory/24.04/motd/10-help-text b/factory/24.04/motd/10-help-text
new file mode 100644
index 0000000..c74d280
--- /dev/null
+++ b/factory/24.04/motd/10-help-text
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+#    10-help-text - print the help text associated with the distro
+#    Copyright (C) 2009-2010 Canonical Ltd.
+#
+#    Authors: Dustin Kirkland <kirkland@canonical.com>,
+#             Brian Murray <brian@canonical.com>
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License along
+#    with this program; if not, write to the Free Software Foundation, Inc.,
+#    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+printf "\n"
+printf " * Documentation:  https://docs.hello-robot.com/\n"
+printf " * Support:        https://forum.hello-robot.com/\n\n"
diff --git a/factory/24.04/motd/10dpkg_options b/factory/24.04/motd/10dpkg_options
new file mode 100644
index 0000000..5f58776
--- /dev/null
+++ b/factory/24.04/motd/10dpkg_options
@@ -0,0 +1,4 @@
+Dpkg::Options {
+   "--force-confdef";
+   "--force-confold";
+}
diff --git a/factory/24.04/stretch_about.png b/factory/24.04/stretch_about.png
new file mode 100644
index 0000000..eeee30a
Binary files /dev/null and b/factory/24.04/stretch_about.png differ
diff --git a/factory/24.04/stretch_create_ament_workspace.sh b/factory/24.04/stretch_create_ament_workspace.sh
new file mode 100755
index 0000000..8890399
--- /dev/null
+++ b/factory/24.04/stretch_create_ament_workspace.sh
@@ -0,0 +1,134 @@
+#!/bin/bash
+set -e
+export COLCON_EXTENSION_BLOCKLIST=colcon_core.event_handler.desktop_notification
+
+REDIRECT_LOGDIR="$HOME/stretch_user/log"
+AMENT_WSDIR="$HOME/ament_ws"
+while getopts l:w: opt; do
+    case $opt in
+        l)
+            if [[ -d $OPTARG ]]; then
+                REDIRECT_LOGDIR=$OPTARG
+            fi
+            ;;
+        w)
+            AMENT_WSDIR=$OPTARG
+            ;;
+    esac
+done
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/stretch_create_ament_workspace.`date '+%Y%m%d%H%M'`_redirected.txt"
+
+echo "###########################################"
+echo "CREATING JAZZY AMENT WORKSPACE at $AMENT_WSDIR"
+echo "###########################################"
+
+echo "Ensuring correct version of ROS is sourced..."
+if [[ $ROS_DISTRO && ! $ROS_DISTRO = "jazzy" ]]; then
+    echo "Cannot create workspace while a conflicting ROS version is sourced. Exiting."
+    exit 1
+fi
+source /opt/ros/jazzy/setup.bash
+
+if [[ -d $AMENT_WSDIR ]]; then
+    echo "You are about to delete and replace the existing ament workspace. If you have any personal data in the workspace, please create a back up before proceeding."
+    prompt_yes_no(){
+    read -p "Do you want to continue? Press (y/n for yes/no): " x
+    if [ $x = "n" ]; then
+            echo "Exiting the script."
+            exit 1
+    elif [ $x = "y" ]; then
+            echo "Continuing to create a new ament workspace."
+    else
+        echo "Press 'y' for yes or 'n' for no."
+        prompt_yes_no
+    fi
+    }
+    prompt_yes_no
+fi
+
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+
+echo "Downgrade to numpy 1.26.4..."
+export PIP_BREAK_SYSTEM_PACKAGES=1
+pip3 install numpy==1.26.4 &>> $REDIRECT_LOGFILE
+
+export PATH=${PATH}:~/.local/bin
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID=$HELLO_FLEET_ID
+export HELLO_FLEET_PATH=${HOME}/stretch_user
+echo "Updating rosdep indices..."
+rosdep update --include-eol-distros &>> $REDIRECT_LOGFILE
+echo "Deleting $AMENT_WSDIR if it already exists..."
+sudo rm -rf $AMENT_WSDIR
+echo "Creating the workspace directory..."
+mkdir -p $AMENT_WSDIR/src
+echo "Cloning the workspace's packages..."
+cd $AMENT_WSDIR/src
+vcs import --input ~/stretch_install/factory/24.04/stretch_ros2_jazzy.repos &>> $REDIRECT_LOGFILE
+echo "Fetch ROS packages' dependencies (this might take a while)..."
+cd $AMENT_WSDIR/
+# The rosdep flags below have been chosen very carefully. Please review the docs before changing them.
+# https://docs.ros.org/en/independent/api/rosdep/html/commands.html
+rosdep install --rosdistro=jazzy -iy --from-paths src &>> $REDIRECT_LOGFILE
+pip3 cache purge &>> $REDIRECT_LOGFILE
+
+# echo "Install web interface dependencies..."
+# cd $AMENT_WSDIR/src/stretch_web_teleop
+# pip3 install -r requirements.txt &>> $REDIRECT_LOGFILE
+# npm install --force &>> $REDIRECT_LOGFILE
+# npx playwright install &>> $REDIRECT_LOGFILE
+# echo "Generating web interface certs..."
+# cd $AMENT_WSDIR/src/stretch_web_teleop/certificates
+# curl -JLO "https://dl.filippo.io/mkcert/latest?for=linux/amd64" &>> $REDIRECT_LOGFILE
+# chmod +x mkcert-v*-linux-amd64
+# sudo cp mkcert-v*-linux-amd64 /usr/local/bin/mkcert
+# CAROOT=`pwd` mkcert --install &>> $REDIRECT_LOGFILE
+# mkdir -p ~/.local/share/mkcert
+# rm -rf ~/.local/share/mkcert/root*
+# cp root* ~/.local/share/mkcert
+# mkcert ${HELLO_FLEET_ID} ${HELLO_FLEET_ID}.local ${HELLO_FLEET_ID}.dev localhost 127.0.0.1 0.0.0.0 ::1 &>> $REDIRECT_LOGFILE
+# rm mkcert-v*-linux-amd64
+# cd $AMENT_WSDIR/src/stretch_web_teleop
+# touch .env
+# echo certfile=${HELLO_FLEET_ID}+6.pem >> .env
+# echo keyfile=${HELLO_FLEET_ID}+6-key.pem >> .env
+# cd $AMENT_WSDIR/
+
+# echo "Install FUNMAP dependencies..."
+# curl -LsSf https://astral.sh/uv/install.sh | sh &>> $REDIRECT_LOGFILE
+# cd $AMENT_WSDIR/src/stretch_ros2/stretch_funmap
+# uv venv --system-site-packages --allow-existing .venv &>> $REDIRECT_LOGFILE
+# uv sync --frozen &>> $REDIRECT_LOGFILE
+# echo "Compile cython modules..."
+# pip3 install setuptools==59.6.0 &>> $REDIRECT_LOGFILE # must use <61 for Colcon to correctly build Stretch FUNMAP
+# uv run cythonize stretch_funmap/cython_min_cost_path.pyx -3 -i &>> $REDIRECT_LOGFILE
+# cd $AMENT_WSDIR/
+
+echo "Compile the workspace (this might take a while)..."
+# pip3 install setuptools==59.6.0 &>> $REDIRECT_LOGFILE # must use <61 for Colcon to correctly build Stretch FUNMAP
+# pip3 uninstall -y setuptools-scm &>> $REDIRECT_LOGFILE
+pip3 uninstall -y nose &>> $REDIRECT_LOGFILE
+colcon build &>> $REDIRECT_LOGFILE
+echo "Source setup.bash file..."
+source $AMENT_WSDIR/install/setup.bash
+echo "Updating port privledges..."
+sudo sysctl -w net.ipv4.ip_unprivileged_port_start=80 &>> $REDIRECT_LOGFILE
+echo net.ipv4.ip_unprivileged_port_start=80 | sudo tee --append /etc/sysctl.d/99-sysctl.conf &>> $REDIRECT_LOGFILE
+echo "Update ~/.bashrc dotfile to source workspace..."
+echo "source $AMENT_WSDIR/install/setup.bash" >> ~/.bashrc
+echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
+echo "Updating meshes and xacros to ROS from stretch_urdf package."
+/home/$USER/.local/bin/stretch_urdf_ros_update.py -y -v >> $REDIRECT_LOGFILE
+echo "Setup uncalibrated robot URDF..."
+ros2 run stretch_calibration update_uncalibrated_urdf >> $REDIRECT_LOGFILE
+echo "Setup calibrated robot URDF..."
+ros2 run stretch_calibration update_with_most_recent_calibration >> $REDIRECT_LOGFILE
+colcon build &>> $REDIRECT_LOGFILE
+
+# echo "Amend FUNMAP executables to use venv..."
+# pip3 install -U hello-robot-stretch-factory &>> $REDIRECT_LOGFILE # Necessary for the below CLI
+# REx_amend_venv_execs.py stretch_funmap &>> $REDIRECT_LOGFILE
+
+echo "Downgrade to numpy 1.26.4..."
+pip3 install numpy==1.26.4 &>> $REDIRECT_LOGFILE
diff --git a/factory/24.04/stretch_initial_setup.sh b/factory/24.04/stretch_initial_setup.sh
new file mode 100755
index 0000000..fbf9372
--- /dev/null
+++ b/factory/24.04/stretch_initial_setup.sh
@@ -0,0 +1,189 @@
+#!/bin/bash
+set -e
+
+do_factory_install=${1:-'false'}
+
+if $do_factory_install; then
+    echo "WARNING: Running a FACTORY install. This is only meant to be run at Hello Robot HQ."
+fi
+echo "WARNING: Run this installation for fresh Ubuntu installs only."
+
+# Process automation variables from parent script
+if [[ -n "$SETUP_FLEET_ID" ]]; then
+    echo "Using SETUP_FLEET_ID from environment: $SETUP_FLEET_ID"
+    HELLO_FLEET_ID="$SETUP_FLEET_ID"
+elif [[ -n "$SETUP_MODEL" && -n "$SETUP_FLEET_NUMBER" ]]; then
+    HELLO_FLEET_ID="${SETUP_MODEL}-${SETUP_FLEET_NUMBER}"
+    echo "Using HELLO_FLEET_ID constructed from environment variables: $HELLO_FLEET_ID"
+else
+    # Original interactive prompt if no automation variables provided
+    echo "Checking ~/.bashrc doesn't already define HELLO_FLEET_ID..."
+    if [[ $HELLO_FLEET_ID ]]; then
+        echo "Expecting var HELLO_FLEET_ID to be undefined. Check end of ~/.bashrc file, delete all lines in 'STRETCH BASHRC SETUP' section, and open a new terminal. Exiting."
+        exit 1
+    fi
+
+    PS3="Select model type: "
+
+    select model in stretch-re1 stretch-re2 stretch-se3
+    do
+        echo "Selected model: $model"
+
+      if [[ "$model" == "stretch-re1" ]]
+      then
+        break
+      fi
+
+     if [[ "$model" == "stretch-re2" ]]
+      then
+        break
+      fi
+
+     if [[ "$model" == "stretch-se3" ]]
+      then
+        break
+      fi
+
+    done
+
+    pre=$model"-"
+
+    echo -n "Enter fleet id xxxx for $pre""xxxx> "
+    read id
+    if [[ ! $id =~ ^[0-9]{4}$ ]]; then
+        echo "Input should be four digits. Exiting."
+        exit 1
+    fi
+
+    HELLO_FLEET_ID="$pre$id"
+fi
+
+echo "HELLO_FLEET_ID will be $HELLO_FLEET_ID."
+echo "Plug in charger & attach clip-clamp before proceeding."
+read -p "Ready to proceed with installation (y/n)? " -n 1 -r
+echo
+if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+    echo "Confirmation failed. Will not proceed with installation."
+    exit 1
+fi
+
+DIR=`pwd`
+echo "Checking Stretch Install cloned to right place..."
+if [[ ! -d "$HOME/stretch_install" ]]; then
+    echo "Expecting Stretch Install to be in home folder. Exiting."
+    exit 1
+fi
+
+if [ $do_factory_install = 'false' ]; then
+    echo "Checking robot calibration data in home folder..."
+    if [[ ! -d "$HOME/$HELLO_FLEET_ID" ]]; then
+        echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
+        exit 1
+    fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
+fi
+
+echo "Waiting to get online..."
+while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
+do
+    sleep 1
+    printf "%c" "."
+done
+
+echo "Checking install repo is up-to-date..."
+git remote update &> /dev/null
+LOCAL=$(git rev-parse @)
+REMOTE=$(git rev-parse @{u})
+if [ ! $LOCAL = $REMOTE ]; then
+    echo "Repo not up-to-date. Please perform a 'git pull'. Exiting."
+    exit 1
+fi
+
+echo "Waiting for apt lock..."
+while sudo fuser /var/{lib/{dpkg,apt/lists},cache/apt/archives}/lock >/dev/null 2>&1; do
+    sleep 1
+    printf "%c" "."
+done
+
+echo "Setting up /etc/hello-robot directory..."
+echo "HELLO_FLEET_ID=$HELLO_FLEET_ID">>hello-robot.conf
+if [ -d "/etc/hello-robot" ]; then
+    sudo rm -rf /etc/hello-robot
+fi
+sudo mkdir /etc/hello-robot
+sudo mv hello-robot.conf /etc/hello-robot
+sudo cp $DIR/stretch_about.png /etc/hello-robot/
+
+if $do_factory_install; then
+    echo "Fetching robot's calibration data from Github..."
+    cd ~/
+    git config --global credential.helper store
+    git clone https://github.com/hello-robot/stretch_fleet.git
+    sudo cp -rf ~/stretch_fleet/robots/$HELLO_FLEET_ID /etc/hello-robot/
+    rm -rf stretch_fleet
+else
+    echo "Fetching robot's calibration data locally from $HOME/$HELLO_FLEET_ID directory..."
+    sudo cp -rf ~/$HELLO_FLEET_ID /etc/hello-robot
+    rm -rf ~/$HELLO_FLEET_ID
+fi
+
+echo "Setting up UDEV rules..."
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
+sudo udevadm control --reload
+
+echo "Allow shutdown without password..."
+sudo cp $DIR/hello_sudoers /etc/sudoers.d/
+
+echo "Setting up startup scripts..."
+mkdir -p ~/.local/bin
+sudo cp $DIR/hello_robot_audio.sh /usr/bin/
+sudo cp $DIR/hello_robot_lrf_off.py /usr/bin/
+sudo cp $DIR/hello_robot_pimu_ping.py /usr/bin/
+sudo cp $DIR/hello_robot_pimu_ping.sh /usr/bin/
+sudo cp $DIR/hello_robot_gamepad_teleop.sh /usr/bin/
+
+echo "Setting up apt retries..."
+echo 'Acquire::Retries "3";' > 80-retries
+sudo mv 80-retries /etc/apt/apt.conf.d/
+
+echo "Prevent screen dimming..."
+gsettings set org.gnome.desktop.session idle-delay 0 &> /dev/null || true
+gsettings set org.gnome.settings-daemon.plugins.power sleep-inactive-ac-timeout 0 &> /dev/null || true
+gsettings set org.gnome.settings-daemon.plugins.power idle-dim false &> /dev/null || true
+
+echo "Setting up motd..."
+if [ -d /etc/update-motd.d/ ]; then
+    sudo cp $DIR/motd/00-header /etc/update-motd.d/00-header
+    sudo chmod +x /etc/update-motd.d/00-header
+    sudo cp $DIR/motd/10-help-text /etc/update-motd.d/10-help-text
+    sudo chmod +x /etc/update-motd.d/10-help-text
+    sudo cp $DIR/motd/10dpkg_options /etc/apt/apt.conf.d/10dpkg_options
+fi
+if [ -f /etc/update-motd.d/50-motd-news ]; then
+    sudo chmod -x /etc/update-motd.d/50-motd-news
+fi
+if [ -f /etc/update-motd.d/88-esm-announce ]; then
+    sudo chmod -x /etc/update-motd.d/88-esm-announce
+fi
+if [ -f /etc/update-motd.d/90-updates-available ]; then
+    sudo chmod -x /etc/update-motd.d/90-updates-available
+fi
+if [ -f /etc/update-motd.d/91-release-upgrade ]; then
+    sudo chmod -x /etc/update-motd.d/91-release-upgrade
+fi
+if [ -f /etc/update-motd.d/95-hwe-eol ]; then
+    sudo chmod -x /etc/update-motd.d/95-hwe-eol
+fi
+
+echo "Switching from Wayland to X11..."
+if [ -f /etc/gdm3/custom.conf ]; then
+    sudo sed -i -e 's/#WaylandEnable=false/WaylandEnable=false/g' /etc/gdm3/custom.conf
+fi
+
+echo 'Blacklisting hid_nintendo that conflicts with Xpad driver...'
+function blacklist_hid_nintendo {
+    echo  '# Nintendo conflicts with Xpad controller driver' | sudo tee -a /etc/modprobe.d/blacklist.conf
+    echo  'blacklist hid_nintendo' | sudo tee -a /etc/modprobe.d/blacklist.conf
+    sudo update-initramfs -u
+}
+blacklist_hid_nintendo &> /dev/null
diff --git a/factory/24.04/stretch_install_arduino.sh b/factory/24.04/stretch_install_arduino.sh
new file mode 100755
index 0000000..435ff79
--- /dev/null
+++ b/factory/24.04/stretch_install_arduino.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=$HOME/.local/bin/ sh
+$HOME/.local/bin/arduino-cli config init
+$HOME/.local/bin/arduino-cli core install arduino:samd@1.6.21
+sed -i -e 's#Arduino#repos/stretch_firmware/arduino#g' ~/.arduino15/arduino-cli.yaml
+
diff --git a/factory/24.04/stretch_install_dev_tools.sh b/factory/24.04/stretch_install_dev_tools.sh
new file mode 100755
index 0000000..03bae35
--- /dev/null
+++ b/factory/24.04/stretch_install_dev_tools.sh
@@ -0,0 +1,66 @@
+#!/bin/bash
+set -e
+
+REDIRECT_LOGDIR="$HOME/stretch_user/log"
+if getopts ":l:" opt && [[ $opt == "l" && -d $OPTARG ]]; then
+    REDIRECT_LOGDIR=$OPTARG
+fi
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/stretch_install_dev_tools.`date '+%Y%m%d%H%M'`_redirected.txt"
+
+echo "#############################################"
+echo "INSTALLATION OF DEV TOOLS FOR HELLO ROBOT INTERNAL PRODUCTION"
+echo "#############################################"
+
+echo "Install gh"
+function install_gh {
+    type -p curl >/dev/null || (sudo apt update && sudo apt install curl -y)
+    curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | sudo dd of=/usr/share/keyrings/githubcli-archive-keyring.gpg \
+    && sudo chmod go+r /usr/share/keyrings/githubcli-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
+    && sudo apt update \
+    && sudo apt install gh -y
+}
+install_gh &>> $REDIRECT_LOGFILE
+
+echo "Install Typora"
+sudo snap install typora >> $REDIRECT_LOGFILE
+
+echo "Install PyCharm"
+sudo snap install pycharm-community --classic >> $REDIRECT_LOGFILE
+
+echo "Install VS Code"
+sudo snap install code --classic >> $REDIRECT_LOGFILE
+
+echo "Install tools for system QC and bringup"
+pip3 install -q --no-warn-script-location twine &>> $REDIRECT_LOGFILE
+pip3 install -q --no-warn-script-location gspread &>> $REDIRECT_LOGFILE
+pip3 install -q --no-warn-script-location gspread-formatting &>> $REDIRECT_LOGFILE
+pip3 install -q --no-warn-script-location oauth2client rsa==3.4 &>> $REDIRECT_LOGFILE
+pip3 install -q --no-warn-script-location mkdocs mkdocs-material mkdocstrings==0.17.0 pytkdocs[numpy-style] jinja2==3.0.3 &>> $REDIRECT_LOGFILE
+
+echo "Cloning repos"
+cd ~/repos/
+git clone https://github.com/hello-robot/stretch_install.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_factory.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_body.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_firmware.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_fleet.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_production_tools.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_production_data.git >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/hello-robot.github.io >> $REDIRECT_LOGFILE
+git clone https://github.com/hello-robot/stretch_docs >> $REDIRECT_LOGFILE
+
+echo "Install stretch_production_tools"
+cd stretch_production_tools/python
+pip3 install -e .
+
+# update .bashrc to add body code directory to the Python path
+
+#echo "export PATH=\${PATH}:~/repos/stretch_body/python/bin" >> ~/.bashrc
+#echo "export PATH=\${PATH}:~/repos/stretch_factory/python/tools" >> ~/.bashrc
+
+#echo "export PYTHONPATH=\${PYTHONPATH}:~/repos/stretch_factory/python/tools" >> ~/.bashrc
+#echo "export PYTHONPATH=\${PYTHONPATH}:~/repos/stretch_body/python" >> ~/.bashrc
+
+#echo "Source new bashrc now...Done."
+#echo ""
diff --git a/factory/24.04/stretch_install_firmware.sh b/factory/24.04/stretch_install_firmware.sh
new file mode 100755
index 0000000..a701d9f
--- /dev/null
+++ b/factory/24.04/stretch_install_firmware.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+set -e
+
+REDIRECT_LOGDIR="$HOME/stretch_user/log"
+if getopts ":l:" opt && [[ $opt == "l" && -d $OPTARG ]]; then
+    REDIRECT_LOGDIR=$OPTARG
+fi
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/stretch_install_firmware.`date '+%Y%m%d%H%M'`_redirected.txt"
+
+echo "###########################################"
+echo "INSTALLATION OF STRETCH FIRMWARE"
+echo "###########################################"
+source ~/.bashrc
+echo "Read ttyACMx mapping"
+REx_firmware_flash.py --map &>> $REDIRECT_LOGFILE
+echo "Perform firmware update (this might take a while)"
+REx_firmware_updater.py --install --no_prompts &>> $REDIRECT_LOGFILE
diff --git a/factory/24.04/stretch_install_system.sh b/factory/24.04/stretch_install_system.sh
new file mode 100755
index 0000000..6313ab7
--- /dev/null
+++ b/factory/24.04/stretch_install_system.sh
@@ -0,0 +1,186 @@
+#!/bin/bash
+set -e
+
+REDIRECT_LOGDIR="$HOME/stretch_user/log"
+if getopts ":l:" opt && [[ $opt == "l" && -d $OPTARG ]]; then
+    REDIRECT_LOGDIR=$OPTARG
+fi
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/stretch_install_system.`date '+%Y%m%d%H%M'`_redirected.txt"
+
+function install {
+    sudo apt-get install -y "$@" >> $REDIRECT_LOGFILE
+}
+
+echo "###########################################"
+echo "INSTALLATION OF SYSTEM WIDE PACKAGES"
+echo "###########################################"
+echo "Apt update & upgrade (this might take a while)"
+sudo apt-add-repository universe -y >> $REDIRECT_LOGFILE
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+sudo apt-get --yes upgrade &>> $REDIRECT_LOGFILE
+echo "Install zip & unzip"
+install zip unzip
+echo "Install Curl"
+install curl
+echo "Install ca-certificates"
+install ca-certificates
+echo "Install gnupg"
+install gnupg
+echo "Install Git"
+install git
+echo "Install rpl"
+install rpl
+echo "Install ipython3"
+install ipython3
+echo "Install pip3"
+install python3-pip
+echo "Install Emacs packages"
+sudo bash -c 'echo "postfix postfix/mailname string my.hostname.example" | debconf-set-selections'
+sudo bash -c 'echo "postfix postfix/main_mailer_type string '\''Internet Site'\''" | debconf-set-selections'
+install emacs yaml-mode
+echo "Install nettools"
+install net-tools
+echo "Install wget"
+install wget
+echo "Install vim"
+install vim
+echo "Install pyserial"
+install python3-serial
+echo "Install Port Audio"
+install portaudio19-dev
+echo "Install lm-sensors & nvme-cli"
+install lm-sensors
+install nvme-cli
+echo "Install cheese for camera testing"
+install cheese
+echo "Install SSH Server"
+install ssh
+echo "Install Chromium"
+install chromium-browser
+echo "Install htop"
+install htop
+echo "Install Ubuntu Sounds"
+install ubuntu-sounds
+echo "Install BleachBit"
+install bleachbit
+echo "Install APT HTTPS"
+install apt-transport-https
+echo "Install Network Security Services libraries"
+install libnss3-tools
+echo "Install uv"
+curl -LsSf https://astral.sh/uv/install.sh | sh &>> $REDIRECT_LOGFILE
+echo ""
+
+# https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
+echo "###########################################"
+echo "INSTALLATION OF ROS 2 JAZZY"
+echo "###########################################"
+echo "Install ros-apt-source"
+function install_ros_apt_source {
+    export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
+    echo $ROS_APT_SOURCE_VERSION
+    curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
+    sudo dpkg -i /tmp/ros2-apt-source.deb
+}
+install_ros_apt_source &>> $REDIRECT_LOGFILE
+echo "Apt update"
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+echo "Install ROS 2 Jazzy (this might take a while)"
+install ros-jazzy-desktop-full
+# https://discourse.ros.org/t/ros-developer-tools-now-in-binary-form/29802
+echo "Install Zenoh middleware"
+install ros-jazzy-rmw-zenoh-cpp
+echo "Install ROS 2 Dev Tools"
+install ros-dev-tools
+echo "Install colcon"
+install python3-colcon-common-extensions
+install python3-colcon-clean
+echo "Install rosdep"
+install python3-rosdep
+echo "Configure rosdep"
+if [ -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; then
+    sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
+fi
+sudo rosdep init &>> $REDIRECT_LOGFILE
+echo "Install vcstool"
+install python3-vcstool
+echo ""
+
+echo "###########################################"
+echo "INSTALLATION OF ADDITIONAL ROS JAZZY PKGS"
+echo "###########################################"
+echo "Install packages to work with URDFs"
+install liburdfdom-tools meshlab
+install ros-jazzy-urdfdom-py
+echo "Install joint state GUI package"
+install ros-jazzy-joint-state-publisher-gui
+echo "Install IMU visualization plugin for RViz and IMU filter"
+install ros-jazzy-rviz-imu-plugin ros-jazzy-imu-filter-madgwick
+echo "Install robot localization package for use with IMU and wheel odometry"
+install ros-jazzy-robot-localization
+echo "Install teleop packages"
+install ros-jazzy-teleop-twist-keyboard
+echo ""
+
+echo "###########################################"
+echo "INSTALLATION OF INTEL REALSENSE"
+echo "###########################################"
+echo "Register the librealsense APT server's public key"
+function register_librealsense_apt_server {
+    curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
+}
+register_librealsense_apt_server &>> $REDIRECT_LOGFILE
+echo "Add the librealsense APT server to the list of APT repositories"
+function add_librealsense_apt_server {
+    echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list
+}
+add_librealsense_apt_server &>> $REDIRECT_LOGFILE
+echo "Remove old records in case of upgrading"
+sudo rm -f /etc/apt/sources.list.d/realsense-public.list
+echo "Apt update"
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+echo "Install librealsense2 packages"
+install librealsense2 librealsense2-udev-rules librealsense2-utils librealsense2-dev librealsense2-dbg
+echo ""
+
+# echo "###########################################"
+# echo "INSTALLATION OF WEB INTERFACE"
+# echo "###########################################"
+# echo "Register the nodesource APT server's public key"
+# function register_nodesource_apt_server {
+#     curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | sudo gpg --batch --yes --dearmor -o /etc/apt/keyrings/nodesource.gpg
+# }
+# register_nodesource_apt_server &>> $REDIRECT_LOGFILE
+# echo "Add the nodesource APT server to the list of APT respositories"
+# function add_nodesource_apt_server {
+#     NODE_MAJOR=21
+#     echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg, arch=amd64] https://deb.nodesource.com/node_$NODE_MAJOR.x nodistro main" | sudo tee /etc/apt/sources.list.d/nodesource.list
+# }
+# add_nodesource_apt_server &>> $REDIRECT_LOGFILE
+# echo "Apt update"
+# sudo apt-get --yes update >> $REDIRECT_LOGFILE
+# echo "Install NodeJS"
+# install nodejs
+# echo "Install PyPCL and PyKDL"
+# install python3-pcl python3-pykdl screen
+# echo "Install PM2"
+# sudo npm install -g pm2 &>> $REDIRECT_LOGFILE
+# echo ""
+
+echo "###########################################"
+echo "INSTALLATION OF REMOTE DESKTOP"
+echo "###########################################"
+echo "Install Sunshine Remote Desktop Server"
+wget https://github.com/LizardByte/Sunshine/releases/download/v2025.628.4510/sunshine-ubuntu-24.04-amd64.deb -O /tmp/sunshine.deb &>> $REDIRECT_LOGFILE
+install /tmp/sunshine.deb
+echo "Add Sunshine uinput udev rule"
+function add_sunshine_uinput_rule {
+    echo 'KERNEL=="uinput", SUBSYSTEM=="misc", OPTIONS+="static_node=uinput", TAG+="uaccess"' | sudo tee /etc/udev/rules.d/85-sunshine.rules
+}
+add_sunshine_uinput_rule &>> $REDIRECT_LOGFILE
+echo "Setup Sunshine apps"
+sudo cp ./sunshine_apps.json /usr/share/sunshine/apps.json
+echo "Setup Sunshine systemd unit"
+mkdir -p ~/.config/systemd/user/
+cp ./sunshine.service ~/.config/systemd/user/sunshine.service
+
diff --git a/factory/24.04/stretch_ros2_jazzy.repos b/factory/24.04/stretch_ros2_jazzy.repos
new file mode 100644
index 0000000..4f0e62d
--- /dev/null
+++ b/factory/24.04/stretch_ros2_jazzy.repos
@@ -0,0 +1,21 @@
+repositories:
+  ros2_numpy:
+    type: git
+    url: https://github.com/Box-Robotics/ros2_numpy
+    version: jazzy
+  stretch_ros2:
+    type: git
+    url: https://github.com/hello-robot/stretch_ros2.git
+    version: jazzy
+  sllidar_ros2:
+    type: git
+    url: https://github.com/Slamtec/sllidar_ros2.git
+    version: 34300099fadfc772965962dec837bf436706188f
+  respeaker_ros2:
+    type: git
+    url: https://github.com/hello-binit/respeaker_ros2.git
+    version: humble
+  audio_common:
+    type: git
+    url: https://github.com/hello-binit/audio_common.git
+    version: humble
diff --git a/factory/24.04/sunshine.service b/factory/24.04/sunshine.service
new file mode 100644
index 0000000..f10fb6e
--- /dev/null
+++ b/factory/24.04/sunshine.service
@@ -0,0 +1,12 @@
+[Unit]
+Description=Sunshine self-hosted game stream host for Moonlight.
+StartLimitIntervalSec=500
+StartLimitBurst=5
+
+[Service]
+ExecStart=/usr/bin/sunshine
+Restart=on-failure
+RestartSec=5s
+
+[Install]
+WantedBy=graphical-session.target
diff --git a/factory/24.04/sunshine_apps.json b/factory/24.04/sunshine_apps.json
new file mode 100644
index 0000000..a5d8244
--- /dev/null
+++ b/factory/24.04/sunshine_apps.json
@@ -0,0 +1,17 @@
+{
+    "env": {
+        "PATH": "$(PATH):$(HOME)\/.local\/bin"
+    },
+    "apps": [
+        {
+            "name": "Desktop",
+            "image-path": "desktop.png",
+            "prep-cmd": [
+                {
+                    "do": "sh -c \"REx_xrandr_display.py --set ${SUNSHINE_CLIENT_WIDTH}x${SUNSHINE_CLIENT_HEIGHT}x${SUNSHINE_CLIENT_FPS}\"",
+                    "undo": "sh -c \"REx_xrandr_display.py --revert\""
+                }
+            ]
+        }
+    ]
+}
diff --git a/stretch_new_robot_install.sh b/stretch_new_robot_install.sh
index 94699c8..efb01ca 100755
--- a/stretch_new_robot_install.sh
+++ b/stretch_new_robot_install.sh
@@ -100,7 +100,7 @@ fi
 
 source /etc/os-release
 factory_osdir="$VERSION_ID"
-if [[ ! $factory_osdir =~ ^(18.04|20.04|22.04)$ ]]; then
+if [[ ! $factory_osdir =~ ^(18.04|20.04|22.04|24.04)$ ]]; then
     echo "Could not identify OS. Please contact Hello Robot Support."
     exit 1
 fi
@@ -177,6 +177,6 @@ zip -r $logzip $logdir/ > /dev/null
 echo ""
 echo "#############################################"
 echo "DONE! INSTALLATION COMPLETED SUCCESSFULLY."
-echo "Perform post install steps: https://docs.hello-robot.com/0.2/stretch-install/docs/robot_install/#post-install-steps"
+echo "Perform post install steps: https://docs.hello-robot.com/0.3/installation/robot_install/#post-install-steps"
 echo "#############################################"
 echo ""
diff --git a/stretch_new_user_install.sh b/stretch_new_user_install.sh
index 497e2be..ecbabf5 100755
--- a/stretch_new_user_install.sh
+++ b/stretch_new_user_install.sh
@@ -9,7 +9,7 @@ REDIRECT_LOGFILE="$REDIRECT_LOGDIR/stretch_new_user_install.`date '+%Y%m%d%H%M'`
 
 source /etc/os-release
 factory_osdir="$VERSION_ID"
-if [[ ! $factory_osdir =~ ^(18.04|20.04|22.04)$ ]]; then
+if [[ ! $factory_osdir =~ ^(18.04|20.04|22.04|24.04)$ ]]; then
     echo "Could not identify OS. Please contact Hello Robot Support."
     exit 1
 fi
@@ -42,6 +42,10 @@ else
     elif [[ $factory_osdir = "22.04" ]]; then
         echo "export _colcon_cd_root=${HOME}/ament_ws" >> ~/.bashrc
         echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+    elif [[ $factory_osdir = "24.04" ]]; then
+        echo "export PIP_BREAK_SYSTEM_PACKAGES=1" >> ~/.bashrc
+        echo "export RMW_IMPLEMENTATION=rmw_zenoh_cpp" >> ~/.bashrc
+        echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
     fi
 fi
 
@@ -88,7 +92,7 @@ echo "Updating media assets..."
 sudo cp $HOME/stretch_install/factory/$factory_osdir/stretch_about.png /etc/hello-robot
 
 echo "Installing Arduino CLI..."
-~/stretch_install/factory/$factory_osdir/stretch_install_arduino.sh >> $REDIRECT_LOGFILE
+~/stretch_install/factory/$factory_osdir/stretch_install_arduino.sh &>> $REDIRECT_LOGFILE
 
 echo "Adding user to the dialout group to access Arduino..."
 sudo adduser $USER dialout >> $REDIRECT_LOGFILE
@@ -142,15 +146,42 @@ elif [[ $factory_osdir = "20.04" || $factory_osdir = "22.04" ]]; then
     echo "Remove setuptools-scm"
     python3 -m pip -q uninstall -y setuptools-scm &>> $REDIRECT_LOGFILE
     echo ""
+elif [[ $factory_osdir = "24.04" ]]; then
+    export PIP_BREAK_SYSTEM_PACKAGES=1
+    echo "###########################################"
+    echo "INSTALLATION OF USER LEVEL PIP3 PACKAGES"
+    echo "###########################################"
+    echo "Upgrade pip3"
+    python3 -m pip -q install --no-warn-script-location --user --upgrade pip &>> $REDIRECT_LOGFILE
+    echo "Clear pip cache"
+    python3 -m pip cache purge &>> $REDIRECT_LOGFILE
+    echo "Install Stretch Body"
+    python3 -m pip -q install --no-warn-script-location --upgrade hello-robot-stretch-body &>> $REDIRECT_LOGFILE
+    echo "Install Stretch Body Tools"
+    python3 -m pip -q install --no-warn-script-location --upgrade hello-robot-stretch-body-tools &>> $REDIRECT_LOGFILE
+    echo "Install Stretch Factory"
+    python3 -m pip -q install --no-warn-script-location --upgrade hello-robot-stretch-factory &>> $REDIRECT_LOGFILE
+    echo "Install Stretch Tool Share"
+    python3 -m pip -q install --no-warn-script-location --upgrade hello-robot-stretch-tool-share &>> $REDIRECT_LOGFILE
+    echo "Install Stretch Diagnostics"
+    python3 -m pip -q install --no-warn-script-location --upgrade hello-robot-stretch-diagnostics &>> $REDIRECT_LOGFILE
+    echo "Install Stretch URDF"
+    python3 -m pip -q install --no-warn-script-location --upgrade hello-robot-stretch-urdf &>> $REDIRECT_LOGFILE
+    echo "Upgrade prompt_toolkit"
+    python3 -m pip -q install --no-warn-script-location -U prompt_toolkit &>> $REDIRECT_LOGFILE
+    echo "Remove setuptools-scm"
+    python3 -m pip -q uninstall -y setuptools-scm &>> $REDIRECT_LOGFILE
+    echo ""
 fi
 
+echo "###########################################"
+echo "CONFIGURATION OF ROBOT PARAMETERS"
+echo "###########################################"
+echo "Checking params migrated..."
 export PATH=${PATH}:~/.local/bin
 export HELLO_FLEET_ID=$HELLO_FLEET_ID
 export HELLO_FLEET_PATH=${HOME}/stretch_user
-
-echo "Ensuring correct version of params present..."
 params_dir_path=$HELLO_FLEET_PATH/$HELLO_FLEET_ID
-echo "Checking params directory path: $params_dir_path"
 
 # Define file paths based on the provided directory
 user_params="$params_dir_path/stretch_re1_user_params.yaml"
@@ -163,7 +194,7 @@ if [[ ! -f $new_config_params && ! -f $new_user_params ]]; then
     # Check if the original RE1 files exist
     if [[ -f $user_params && -f $factory_params ]]; then
         echo "Old RE1 params are present. Starting param migration..."
-        /home/$USER/.local/bin/RE1_migrate_params.py --path $dir_path
+        /home/$USER/.local/bin/RE1_migrate_params.py
         # Check if the script ran successfully
         if [ $? -eq 0 ]; then
             echo "Migration script ran successfully."
@@ -173,7 +204,7 @@ if [[ ! -f $new_config_params && ! -f $new_user_params ]]; then
         fi
 
         echo "Migrating contact params..."
-        /home/$USER/.local/bin/RE1_migrate_contacts.py --path $dir_path
+        /home/$USER/.local/bin/RE1_migrate_contacts.py
         # Check if the script ran successfully
         if [ $? -eq 0 ]; then
             echo "Migration script ran successfully."
@@ -188,6 +219,7 @@ if [[ ! -f $new_config_params && ! -f $new_user_params ]]; then
 else
     echo "Required parameter files are present in the directory. Skipping migration."
 fi
+echo ""
 
 if [[ $factory_osdir = "18.04" ]]; then
     ~/stretch_install/factory/$factory_osdir/stretch_create_catkin_workspace.sh -w "$HOME/catkin_ws" -l $REDIRECT_LOGDIR
@@ -195,4 +227,6 @@ elif [[ $factory_osdir = "20.04" ]]; then
     ~/stretch_install/factory/$factory_osdir/stretch_create_catkin_workspace.sh -w "$HOME/catkin_ws" -l $REDIRECT_LOGDIR
 elif [[ $factory_osdir = "22.04" ]]; then
     ~/stretch_install/factory/$factory_osdir/stretch_create_ament_workspace.sh -w "$HOME/ament_ws" -l $REDIRECT_LOGDIR
+elif [[ $factory_osdir = "24.04" ]]; then
+    ~/stretch_install/factory/$factory_osdir/stretch_create_ament_workspace.sh -w "$HOME/ament_ws" -l $REDIRECT_LOGDIR
 fi
diff --git a/stretch_update_ros_workspace.sh b/stretch_update_ros_workspace.sh
index 9220c7c..2f08f78 100755
--- a/stretch_update_ros_workspace.sh
+++ b/stretch_update_ros_workspace.sh
@@ -4,7 +4,7 @@ set -o pipefail
 sudo sleep 0.1
 source /etc/os-release
 factory_osdir="$VERSION_ID"
-if [[ ! $factory_osdir =~ ^(18.04|20.04|22.04)$ ]]; then
+if [[ ! $factory_osdir =~ ^(18.04|20.04|22.04|24.04)$ ]]; then
     echo "Could not identify OS. Please contact Hello Robot Support."
     exit 1
 fi
@@ -27,6 +27,8 @@ elif [[ $factory_osdir = "20.04" ]]; then
     ./stretch_create_catkin_workspace.sh -w "$HOME/catkin_ws"
 elif [[ $factory_osdir = "22.04" ]]; then
     ./stretch_create_ament_workspace.sh -w "$HOME/ament_ws"
+elif [[ $factory_osdir = "24.04" ]]; then
+    ./stretch_create_ament_workspace.sh -w "$HOME/ament_ws"
 fi
 if [ $? -ne 0 ]; then
     echo_failure_help