diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 9cccc35..b3006b5 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -31,53 +31,53 @@ SHELL ["/bin/bash", "-c"]
 
 # Ensure we have universe
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
-        software-properties-common \
-&& add-apt-repository universe \
-&& apt-get update
+    apt-get update && apt-get install -y \
+    software-properties-common \
+    && add-apt-repository universe \
+    && apt-get update
 
 # Fundamentals
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
-        apt-transport-https \
-        apt-utils \
-        bash-completion \
-        build-essential \
-        ca-certificates \
-        clang-format \
-        cmake \
-        curl \
-        git \
-        git-lfs \
-        gnupg2 \
-        iputils-ping \
-        libgoogle-glog-dev \
-        locales \
-        lsb-release \
-        mlocate \
-        rsync \
-        tar \
-        unzip \
-        vim \
-        wget \
-        zlib1g-dev
+    apt-get update && apt-get install -y \
+    apt-transport-https \
+    apt-utils \
+    bash-completion \
+    build-essential \
+    ca-certificates \
+    clang-format \
+    cmake \
+    curl \
+    git \
+    git-lfs \
+    gnupg2 \
+    iputils-ping \
+    libgoogle-glog-dev \
+    locales \
+    lsb-release \
+    mlocate \
+    rsync \
+    tar \
+    unzip \
+    vim \
+    wget \
+    zlib1g-dev
 
 # Python basics
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
-        python3-dev \
-        python3-distutils \
-        python3-flake8 \
-        python3-pip \
-        python3-pybind11 \
-        python3-pytest \
-        python3-pytest-repeat \
-        python3-pytest-rerunfailures \
-        python3-pytest-cov \
-        python3-venv \
-        python3-zmq \
-        python3.10 \
-        python3.10-venv
+    apt-get update && apt-get install -y \
+    python3-dev \
+    python3-distutils \
+    python3-flake8 \
+    python3-pip \
+    python3-pybind11 \
+    python3-pytest \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures \
+    python3-pytest-cov \
+    python3-venv \
+    python3-zmq \
+    python3.10 \
+    python3.10-venv
 
 # Set Python3 as default
 RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
@@ -91,104 +91,103 @@ RUN --mount=type=cache,target=/var/cache/apt \
 
 # Core dev libraries
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
-        ffmpeg \
-        gfortran \
-        graphicsmagick-libmagick-dev-compat \
-        jq \
-        kmod \
-        lcov \
-        libasio-dev \
-        libassimp-dev \
-        libatlas3-base \
-        libatlas-base-dev \
-        libblas3 \
-        libboost-all-dev \
-        libboost-dev \
-        libbullet-dev \
-        libceres-dev \
-        libcunit1-dev \
-        libffi7 \
-        libfreetype6 \
-        libgraphicsmagick++1-dev \
-        libhidapi-libusb0 \
-        libinput10 \
-        libjpeg8 \
-        liblapack3 \
-        libmnl0 \
-        libmnl-dev \
-        libncurses5-dev \
-        libode-dev \
-        libopenblas0 \
-        libopencv-dev=4.5.4+dfsg-9ubuntu4 \
-        libopenmpi3 \
-        libpcap-dev \
-        libpcl-dev \
-        libpython3.10 \
-        libsuitesparse-dev \
-        libtinyxml2-dev \
-        libturbojpeg \
-        libunwind8 \
-        libv4l-0 \
-        libv4l-dev \
-        libx264-dev \
-        libxaw7-dev \
-        libyaml-cpp-dev \
-        linuxptp \
-        llvm-14 \
-        nlohmann-json3-dev \
-        patchelf \
-        python3-opencv=4.5.4+dfsg-9ubuntu4 \
-        python3-scipy
+    apt-get update && apt-get install -y \
+    gfortran \
+    graphicsmagick-libmagick-dev-compat \
+    jq \
+    kmod \
+    lcov \
+    libasio-dev \
+    libassimp-dev \
+    libatlas3-base \
+    libatlas-base-dev \
+    libblas3 \
+    libboost-all-dev \
+    libboost-dev \
+    libbullet-dev \
+    libceres-dev \
+    libcunit1-dev \
+    libffi7 \
+    libfreetype6 \
+    libgraphicsmagick++1-dev \
+    libhidapi-libusb0 \
+    libinput10 \
+    libjpeg8 \
+    liblapack3 \
+    libmnl0 \
+    libmnl-dev \
+    libncurses5-dev \
+    libode-dev \
+    libopenblas0 \
+    libopencv-dev=4.5.4+dfsg-9ubuntu4 \
+    libopenmpi3 \
+    libpcap-dev \
+    libpcl-dev \
+    libpython3.10 \
+    libsuitesparse-dev \
+    libtinyxml2-dev \
+    libturbojpeg \
+    libunwind8 \
+    libv4l-0 \
+    libv4l-dev \
+    libx264-dev \
+    libxaw7-dev \
+    libyaml-cpp-dev \
+    linuxptp \
+    llvm-14 \
+    nlohmann-json3-dev \
+    patchelf \
+    python3-opencv=4.5.4+dfsg-9ubuntu4 \
+    python3-scipy
 
 # Downgrade to setuptools < 70.0.0
 # https://github.com/pypa/setuptools/issues/4483
 RUN python3 -m pip install -U \
-setuptools==65.7.0
+    setuptools==65.7.0
 
 # Python3 PIP buildtools
 RUN python3 -m pip install -U \
-        Cython \
-        ninja \
-        wheel
+    Cython \
+    ninja \
+    wheel
 
 # Python3 PIP packages
 RUN python3 -m pip install -U \
-        argcomplete \
-        autopep8 \
-        flake8 \
-        flake8-blind-except \
-        flake8-builtins \
-        flake8-class-newline \
-        flake8-comprehensions \
-        flake8-deprecated \
-        flake8-docstrings \
-        flake8-import-order \
-        flake8-quotes \
-        gpustat==0.6.0 \
-        importlib_resources \
-        networkx \
-        "numpy>=1.24.4,<2" \
-        numpy-quaternion \
-        onnx \
-        pydocstyle \
-        pymongo \
-        pyyaml \
-        "scipy>=1.7.0" \
-        scikit-image \
-        scikit-learn \
-        "setuptools_scm>=6.2" \
-        tqdm \
-        trimesh \
-        "warp-lang>=0.9.0" \
-        "yourdfpy>=0.0.53"
+    argcomplete \
+    autopep8 \
+    flake8 \
+    flake8-blind-except \
+    flake8-builtins \
+    flake8-class-newline \
+    flake8-comprehensions \
+    flake8-deprecated \
+    flake8-docstrings \
+    flake8-import-order \
+    flake8-quotes \
+    gpustat==0.6.0 \
+    importlib_resources \
+    networkx \
+    "numpy>=1.24.4,<2" \
+    numpy-quaternion \
+    onnx \
+    pydocstyle \
+    pymongo \
+    pyyaml \
+    "scipy>=1.7.0" \
+    scikit-image \
+    scikit-learn \
+    "setuptools_scm>=6.2" \
+    tqdm \
+    trimesh \
+    "warp-lang>=0.9.0" \
+    "yourdfpy>=0.0.53"
 
 # Add MQTT binaries and libraries
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
-&& apt-get update && apt-get install -y \
-        mosquitto \
-        mosquitto-clients
+    apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
+    && apt-get update && apt-get install -y \
+    mosquitto \
+    mosquitto-clients
 
 # Install Node.js
 RUN curl -fsSL https://deb.nodesource.com/setup_18.x | bash - && \
@@ -207,32 +206,32 @@ RUN python3 -m pip install -U \
 
 # Setup Jetson debian repositories
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc ; \
-if [[ ${PLATFORM} == 'arm64' ]]; then \
+    apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc ; \
+    if [[ ${PLATFORM} == 'arm64' ]]; then \
     echo 'deb https://repo.download.nvidia.com/jetson/common r36.4 main' > /etc/apt/sources.list.d/nvidia-l4t-apt-source.list \
     && echo 'deb https://repo.download.nvidia.com/jetson/t234 r36.4 main' >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list ; \
-elif [[ ${PLATFORM} == 'amd64' ]]; then \
+    elif [[ ${PLATFORM} == 'amd64' ]]; then \
     add-apt-repository "deb http://repo.download.nvidia.com/jetson/x86_64/$(lsb_release -cs) r36.4 main" ; \
-else \
+    else \
     echo "Unrecognized platform: ${PLATFORM}" && exit 1 ; \
-fi ; \
-apt-get update
+    fi ; \
+    apt-get update
 
 # Setup CUDA repositories
 RUN --mount=type=cache,target=/var/cache/apt \
-if [[ ${PLATFORM} == 'arm64' ]]; then \
+    if [[ ${PLATFORM} == 'arm64' ]]; then \
     wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/arm64/cuda-keyring_1.1-1_all.deb ; \
-elif [[ ${PLATFORM} == 'amd64' ]]; then \
+    elif [[ ${PLATFORM} == 'amd64' ]]; then \
     wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb ; \
-else \
+    else \
     echo "Unrecognized platform: ${PLATFORM}" && exit 1 ; \
-fi ; \
-dpkg -i cuda-keyring_1.1-1_all.deb && rm -Rf cuda-keyring_1.1-1_all.deb ; \
-apt-get update
+    fi ; \
+    dpkg -i cuda-keyring_1.1-1_all.deb && rm -Rf cuda-keyring_1.1-1_all.deb ; \
+    apt-get update
 
 # Install VPI
 RUN --mount=type=cache,target=/var/cache/apt \
-if [[ ${PLATFORM} == 'arm64' ]]; then \
+    if [[ ${PLATFORM} == 'arm64' ]]; then \
     # This is a temporary workaround required to install pva-allow-2 in docker which will not be necessary next release
     apt-get install pva-allow-2 || true ; \
     rm /var/lib/dpkg/info/pva-allow-2.post* ; \
@@ -244,26 +243,26 @@ if [[ ${PLATFORM} == 'arm64' ]]; then \
     && dpkg -i libnvvpi3_3.2.4_arm64.deb \
     && dpkg -i vpi3-dev_3.2.4_arm64.deb \
     && cd /tmp && rm -Rf /tmp/vpi_dev ; \
-fi ; \
-apt-get update && apt-get install -y \
+    fi ; \
+    apt-get update && apt-get install -y \
     libnvvpi3 \
     vpi3-dev
 
 # Install cuDSS
 RUN --mount=type=cache,target=/var/cache/apt \
-if [[ ${PLATFORM} == 'arm64' ]]; then \
+    if [[ ${PLATFORM} == 'arm64' ]]; then \
     wget https://developer.download.nvidia.com/compute/cudss/redist/libcudss/linux-aarch64/libcudss-linux-aarch64-0.3.0.9_cuda12-archive.tar.xz && \
     tar -xvf libcudss-linux-aarch64-0.3.0.9_cuda12-archive.tar.xz -C /usr/local && \
     rm libcudss-linux-aarch64-0.3.0.9_cuda12-archive.tar.xz && \
     cp -r /usr/local/libcudss-linux-aarch64-0.3.0.9_cuda12-archive /usr/local/libcudss-linux-0.3.0.9_cuda12-archive ; \
-elif [[ ${PLATFORM} == 'amd64' ]]; then \
+    elif [[ ${PLATFORM} == 'amd64' ]]; then \
     wget https://developer.download.nvidia.com/compute/cudss/redist/libcudss/linux-x86_64/libcudss-linux-x86_64-0.3.0.9_cuda12-archive.tar.xz && \
     tar -xvf libcudss-linux-x86_64-0.3.0.9_cuda12-archive.tar.xz -C /usr/local && \
     rm libcudss-linux-x86_64-0.3.0.9_cuda12-archive.tar.xz && \
     cp -r /usr/local/libcudss-linux-x86_64-0.3.0.9_cuda12-archive /usr/local/libcudss-linux-0.3.0.9_cuda12-archive ; \
-else \
+    else \
     echo "Unrecognized platform: ${PLATFORM}" && exit 1 ; \
-fi
+    fi
 
 # Based on cuDSS version (0.3.0.9) and architecture which is not expected to change frequently
 ENV CUDSS_DIR=/usr/local/libcudss-linux-0.3.0.9_cuda12-archive
@@ -272,20 +271,20 @@ ENV LD_LIBRARY_PATH=$CUDSS_DIR/lib:$LD_LIBRARY_PATH
 
 # Install CV-CUDA
 RUN --mount=type=cache,target=/var/cache/apt \
-cd /tmp ; \
-if [[ ${PLATFORM} == 'arm64' ]]; then \
+    cd /tmp ; \
+    if [[ ${PLATFORM} == 'arm64' ]]; then \
     wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-lib-0.5.0_beta_DP-cuda12-aarch64-linux.deb && \
     dpkg -i nvcv-lib-0.5.0_beta_DP-cuda12-aarch64-linux.deb && \
     wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-dev-0.5.0_beta_DP-cuda12-aarch64-linux.deb && \
     dpkg -i nvcv-dev-0.5.0_beta_DP-cuda12-aarch64-linux.deb ; \
-elif [[ ${PLATFORM} == 'amd64' ]]; then \
+    elif [[ ${PLATFORM} == 'amd64' ]]; then \
     wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-lib-0.5.0_beta-cuda12-x86_64-linux.deb && \
     dpkg -i nvcv-lib-0.5.0_beta-cuda12-x86_64-linux.deb && \
     wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-dev-0.5.0_beta-cuda12-x86_64-linux.deb && \
     dpkg -i nvcv-dev-0.5.0_beta-cuda12-x86_64-linux.deb ; \
-else \
+    else \
     echo "Unrecognized platform: ${PLATFORM}" && exit 1 ; \
-fi
+    fi
 
 # --------------------------------------------------------------------------------------------------
 
@@ -303,7 +302,7 @@ ENV PATH="/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/src/tensorrt/bin:${PATH
 
 # Install CUDA packages
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y --no-install-recommends --force-yes \
+    apt-get update && apt-get install -y --no-install-recommends --force-yes \
     cuda-cudart-12-6 \
     cuda-libraries-12-6 \
     cuda-nvml-dev-12-6 \
@@ -316,7 +315,7 @@ apt-get update && apt-get install -y --no-install-recommends --force-yes \
 
 # Install TensorRT
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
+    apt-get update && apt-get install -y \
     libnvinfer10 \
     libnvinfer-plugin10 \
     libnvonnxparsers10 \
@@ -329,21 +328,21 @@ ENV TRT_INCLUDE_PATH="/usr/include/aarch64-linux-gnu"
 
 # Install pva-allow-2 as a workaround
 RUN --mount=type=cache,target=/var/cache/apt \
-  mkdir -p /tmp/pva && cd /tmp/pva \
-  && wget https://repo.download.nvidia.com/jetson/common/pool/main/p/pva-allow-2/pva-allow-2_2.0.0~rc3_all.deb \
-  && dpkg -i pva-allow-2_2.0.0~rc3_all.deb || true \
-  && rm /var/lib/dpkg/info/pva-allow-2.post* \
-  && dpkg --configure pva-allow-2 \
-  && cd /tmp && rm -Rf /tmp/pva
+    mkdir -p /tmp/pva && cd /tmp/pva \
+    && wget https://repo.download.nvidia.com/jetson/common/pool/main/p/pva-allow-2/pva-allow-2_2.0.0~rc3_all.deb \
+    && dpkg -i pva-allow-2_2.0.0~rc3_all.deb || true \
+    && rm /var/lib/dpkg/info/pva-allow-2.post* \
+    && dpkg --configure pva-allow-2 \
+    && cd /tmp && rm -Rf /tmp/pva
 
 
 # PyTorch (NV CUDA edition)
 # https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html
 RUN python3 -m pip install --no-cache \
-        https://developer.download.nvidia.cn/compute/redist/jp/v61/pytorch/torch-2.5.0a0+872d972e41.nv24.08.17622132-cp310-cp310-linux_aarch64.whl
+    https://developer.download.nvidia.cn/compute/redist/jp/v61/pytorch/torch-2.5.0a0+872d972e41.nv24.08.17622132-cp310-cp310-linux_aarch64.whl
 
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y --no-install-recommends \
+    apt-get update && apt-get install -y --no-install-recommends \
     libb64-0d \
     libre2-9 \
     rapidjson-dev \
@@ -361,6 +360,9 @@ RUN  --mount=type=cache,target=/var/cache/apt \
     && chmod 644 /opt/tritonserver/backends/tensorflow/libtensorflow_framework.so.2 \
     && rm tritonserver2.49.0-igpu.tar.gz
 
+# Remove security vulnerability in Java examples
+RUN rm -rf /opt/tritonserver/clients/java/examples
+
 ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"
 
 # Install boost version >= 1.78 for boost::span
@@ -379,6 +381,12 @@ RUN --mount=type=cache,target=/var/cache/apt \
 RUN python3 -m pip install -U \
     jetson-stats
 
+# Compile ffmpeg without gpl and nonfree
+RUN apt-get install yasm && wget https://ffmpeg.org/releases/ffmpeg-4.4.2.tar.bz2 && tar xjvf ffmpeg-4.4.2.tar.bz2 && cd ffmpeg-4.4.2 && \
+    ./configure --prefix=/usr --toolchain=hardened --enable-shared \
+    --libdir=/usr/lib/aarch64-linux-gnu --incdir=/usr/include/aarch64-linux-gnu --arch=arm64 \
+    --disable-stripping && make -j 4 && make install
+
 # --------------------------------------------------------------------------------------------------
 
 FROM common AS extended-amd64
@@ -390,20 +398,26 @@ ENV TRT_INC_PATH="/usr/include/x86_64-linux-gnu"
 
 # Install nvv4l2 for GXF Multimedia h264 codec
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
-        nvv4l2 \
-&& ln -s /usr/lib/x86_64-linux-gnu/libnvcuvid.so.1 /usr/lib/x86_64-linux-gnu/libnvcuvid.so \
-&& ln -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so
+    apt-get update && apt-get install -y \
+    nvv4l2 \
+    && ln -s /usr/lib/x86_64-linux-gnu/libnvcuvid.so.1 /usr/lib/x86_64-linux-gnu/libnvcuvid.so \
+    && ln -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so
 
 # Pytorch
 RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \
-        torch \
-        torchvision \
-        torchaudio
+    torch \
+    torchvision \
+    torchaudio
 
 # Update environment
 ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"
 
+# Compile a ffmpeg without gpl and nonfree
+RUN apt-get install -y yasm && wget https://ffmpeg.org/releases/ffmpeg-4.4.2.tar.bz2 && tar xjvf ffmpeg-4.4.2.tar.bz2 && cd ffmpeg-4.4.2 && \
+    ./configure --prefix=/usr --toolchain=hardened --enable-shared \
+    --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 \
+    --disable-stripping && make -j 4 && make install
+
 # --------------------------------------------------------------------------------------------------
 
 FROM extended-${PLATFORM} AS base
@@ -441,10 +455,10 @@ ENV USERNAME=${USERNAME}
 
 # Install prerequisites
 RUN --mount=type=cache,target=/var/cache/apt \
-apt-get update && apt-get install -y \
-        gosu \
-        sudo \
-        udev
+    apt-get update && apt-get install -y \
+    gosu \
+    sudo \
+    udev
 
 # Copy scripts
 RUN mkdir -p /usr/local/bin/scripts
diff --git a/docker/Dockerfile.ros2_humble b/docker/Dockerfile.ros2_humble
index 22ca57e..e8bc073 100644
--- a/docker/Dockerfile.ros2_humble
+++ b/docker/Dockerfile.ros2_humble
@@ -299,12 +299,13 @@ RUN sudo sed -i '917i #ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL' /usr/
 
 # Install MCAP CLI
 ARG TARGETPLATFORM
+ARG MCAP_VERSION=v0.0.51
 RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
-        wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2Fv0.0.47/mcap-linux-amd64 && \
+        wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2F${MCAP_VERSION}/mcap-linux-amd64 && \
         chmod +x mcap-linux-amd64 && \
         mv mcap-linux-amd64 /opt/ros/humble/bin/mcap; \
     elif [ "$TARGETPLATFORM" = "linux/arm64" ]; then \
-        wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2Fv0.0.47/mcap-linux-arm64 && \
+        wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2F${MCAP_VERSION}/mcap-linux-arm64 && \
         chmod +x mcap-linux-arm64 && \
         mv mcap-linux-arm64 /opt/ros/humble/bin/mcap; \
     else \