diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..b1d1005
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,24 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/coalman321/osu-uwrt/dependencies/install/include/**",
+        "/home/coalman321/osu-uwrt/dependencies/MYNT/wrappers/ros/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/coalman321/osu-uwrt/riptide_software/devel/include/**",
+        "/home/coalman321/osu-uwrt/riptide_software/src/riptide_autonomy/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..4dd8733
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/coalman321/osu-uwrt/dependencies/install/lib/python3/dist-packages",
+        "/home/coalman321/osu-uwrt/dependencies/MYNT/wrappers/ros/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages",
+        "/home/coalman321/osu-uwrt/riptide_software/devel/lib/python3/dist-packages"
+    ]
+}
\ No newline at end of file
diff --git a/build.sh b/build.sh
index 429cd82..3186d6f 100755
--- a/build.sh
+++ b/build.sh
@@ -3,7 +3,7 @@
 # constants used for build
 export TOOLCHAIN=$(pwd)/rio_toolchain.cmake
 export COLCON_META=$(pwd)/colcon.meta
-export YEAR=2021
+export YEAR=2022
 export ARM_PREFIX=arm-frc${YEAR}-linux-gnueabi
 export CROSS_ROOT=${HOME}/wpilib/${YEAR}/roborio/${ARM_PREFIX}
 export DDS_IMPL=CycloneDDS
diff --git a/build_host_cyclone.sh b/build_host_cyclone.sh
index f136861..90ac815 100755
--- a/build_host_cyclone.sh
+++ b/build_host_cyclone.sh
@@ -4,6 +4,8 @@ CYC_HOST_DIR=$(pwd)/cyclone_host/cyclonedds
 
 mkdir ${CYC_HOST_DIR}/build
 
+sudo apt install bison -y
+
 pushd ${CYC_HOST_DIR}/build > /dev/null
 
     echo "Building cyclonedds for host"
diff --git a/downloadDeps.py b/downloadDeps.py
index 30744e5..e752c27 100644
--- a/downloadDeps.py
+++ b/downloadDeps.py
@@ -77,26 +77,6 @@
 
 }
 
-'''
-buildDeps = {
-    "files": [
-        "bison"
-    ],
-    "links" : [ # tuples of target (links to) and source (the link)
-    ]
-}
-
-deployDeps = {
-    "files": [
-
-    ],
-    "links" : [ # tuples of target (links to) and source (the link)
-
-    ]
-} 
-'''  
-
-
 remoteUrl = "https://download.ni.com/ni-linux-rt/feeds/2021.3/arm/main/cortexa9-vfpv3/"
 packageUrl = "https://download.ni.com/ni-linux-rt/feeds/2021.3/arm/main/cortexa9-vfpv3/Packages"
 
@@ -122,7 +102,7 @@ def singleDownload(download_url, save_as, local_dir):
 
         absFileName = os.path.join(local_dir, "downloads", save_as)
         urllib.request.urlretrieve(download_url, filename = absFileName)
-        logging.warning("Downloaded {} successfully as {}".format(download_url, absFileName))
+        logging.info("Downloaded {} successfully as {}".format(download_url, absFileName))
         return True
 
     except Exception as e:
diff --git a/rclcpp_rio.zip b/rclcpp_rio.zip
new file mode 100644
index 0000000..e02359b
Binary files /dev/null and b/rclcpp_rio.zip differ
diff --git a/rio_toolchain.cmake b/rio_toolchain.cmake
index fda5e5b..d731dbe 100644
--- a/rio_toolchain.cmake
+++ b/rio_toolchain.cmake
@@ -1,5 +1,5 @@
 ##configuration
-set(YEAR 2021)
+set(YEAR 2022)
 
 # Set system definitions
 SET(CMAKE_SYSTEM_NAME Linux)
@@ -19,10 +19,10 @@ set(CMAKE_SYSROOT ${WPI_DIR}/roborio/${ARM_PREFIX})
 # Use a relative dir to get to the compilier
 set(COMPILIER_DIR ${WPI_DIR}/roborio/bin/)
 
-find_program(CMAKE_C_COMPILER NAMES arm-frc2021-linux-gnueabi-gcc PATHS ${COMPILIER_DIR})
-find_program(CMAKE_CXX_COMPILER NAMES arm-frc2021-linux-gnueabi-g++ PATHS ${COMPILIER_DIR})
-find_program(CMAKE_LINKER NAMES arm-frc2021-linux-gnueabi-gcc PATHS ${COMPILIER_DIR})
-find_program(CMAKE_AR NAMES arm-frc2021-linux-gnueabi-ar PATHS ${COMPILIER_DIR})
+find_program(CMAKE_C_COMPILER NAMES arm-frc${YEAR}-linux-gnueabi-gcc PATHS ${COMPILIER_DIR})
+find_program(CMAKE_CXX_COMPILER NAMES arm-frc${YEAR}-linux-gnueabi-g++ PATHS ${COMPILIER_DIR})
+find_program(CMAKE_LINKER NAMES arm-frc${YEAR}-linux-gnueabi-gcc PATHS ${COMPILIER_DIR})
+find_program(CMAKE_AR NAMES arm-frc${YEAR}-linux-gnueabi-ar PATHS ${COMPILIER_DIR})
 
 # message("Got C compilier at ${CMAKE_C_COMPILER}")
 # message("Got CXX compilier at ${CMAKE_CXX_COMPILER}")
diff --git a/src/worbots/RosPathGen b/src/worbots/RosPathGen
index 32347f4..dd31034 160000
--- a/src/worbots/RosPathGen
+++ b/src/worbots/RosPathGen
@@ -1 +1 @@
-Subproject commit 32347f4be73274a0ffb74074a9ba1dec3bbf7408
+Subproject commit dd31034be0927e15d7fbb408c43d5185c35f8b38