diff --git a/cabot/config/cabot-control.yaml b/cabot/config/cabot-control.yaml
index 0eab813d..66496e6c 100644
--- a/cabot/config/cabot-control.yaml
+++ b/cabot/config/cabot-control.yaml
@@ -68,6 +68,8 @@ cabot:
   tf_speed_control_node: # old name cabot_e_tf_speed:
     ros__parameters:
       limit_topic: /cabot/tf_speed
+      tf_decel_timeout: 0.3
+      tf_timeout: 0.5
 
   touch_speed_control_node:
     ros__parameters:
diff --git a/cabot_ui/config/cabot3-k1_diagnostic.yaml b/cabot_ui/config/cabot3-k1_diagnostic.yaml
new file mode 100644
index 00000000..cd70980a
--- /dev/null
+++ b/cabot_ui/config/cabot3-k1_diagnostic.yaml
@@ -0,0 +1,142 @@
+cadiagnostic_aggregator:
+  ros__parameters:
+    pub_rate: 1.0
+    path: CaBot
+    joy:
+      type: diagnostic_aggregator/DiscardAnalyzer
+      path: joy
+      startswith:
+        - "joy_node"
+
+    discard:
+      type: diagnostic_aggregator/DiscardAnalyzer
+      path: discard
+      contains:
+        - "Push Button 5"
+        - "PeoplePredict"
+        - "realsense2_camera_manager_aligned_depth_to_color: Frequency Status"
+
+    soft_cabot_ui:
+       type: diagnostic_aggregator/GenericAnalyzer
+       path: "Soft: UI Manager"
+       contains:
+         - "UI Manager"
+       remove_prefix:
+         - "cabot_ui cabot_ui_manager: "
+
+    soft_localize:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: "Soft: Localize"
+      contains:
+        - "Localize Status"
+      remove_prefix:
+        - "multi_floor_manager: "
+
+    soft_odometry:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: "Soft: Odometry"
+      contains:
+        - "ekf_node"
+      remove_prefix:
+        - "ekf_node: "
+
+    soft_people:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: "Soft: People_and_Obstacle"
+      contains:
+        - "People"
+        - "Obstacle"
+        - "Queue"
+      remove_prefix:
+        - "camera detect_darknet_opencv_node: "
+        - "camera realsense2_camera_manager: "
+        - "predict_kf_people_py: "
+        - "track_sort_3d_people_py: "
+        - "detect_queue_people_py: "
+        - "track_obstacle: "
+        - "predict_obstacle: "
+
+    soft_rs:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: "Camera"
+      analyzers:
+        front:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: "Front"
+          contains:
+            - "rs1"
+          remove_prefix:
+            - "detect_darknet_people_cpp: "
+        soft_rs2:
+          type: cabot_diagnostics/CabotAnalyzer
+          path: "Right"
+          contains:
+            - "rs2"
+          remove_prefix:
+            - "detect_darknet_people_cpp: "
+          treat_as_warning: true
+        soft_rs3:
+          type: cabot_diagnostics/CabotAnalyzer
+          path: "Left"
+          contains:
+            - "rs3"
+          remove_prefix:
+            - "detect_darknet_people_cpp: "
+          treat_as_warning: true
+
+    soft_ros2:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: "Soft: Navigation2"
+      contains:
+        - "ROS2"
+        - "Nav2"
+      remove_prefix:
+        - "lifecycle_manager_navigation"
+        - "lifecycle_manager_local_navigation"
+        - "lifecycle_manager_localization"
+
+    hard_wireless:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: "Hard: Wireless"
+      contains:
+        - "Beacon Scanner"
+        - "Beacon Converter"
+        # - "esp32_wifi_scan_converter: "
+        # - "rosserial_esp32: "
+      remove_prefix:
+        - "dbus_ibeacon_scanner: "
+        - "ble_scan_converter: "
+        # - "esp32_wifi_scan_converter: "
+        # - "rosserial_esp32: "
+
+    # TODO
+    # hard_micon:
+    #   type: diagnostic_aggregator/GenericAnalyzer
+    #   path: "Hard: Micro Controller"
+    #   contains:
+    #     - "Rosserial Connection"
+    #     - "Push Button 1"
+    #     - "Push Button 2"
+    #     - "Push Button 3"
+    #     - "Push Button 4"
+    #     - "Touch Sensor"
+    #     - "cabot_serial: "
+    #   remove_prefix:
+    #     - "cabot_serial: "
+
+    # TODO
+    # hard_odrive:
+    #   type: diagnostic_aggregator/GenericAnalyzer
+    #   path: "Hard: Odrive"
+    #   contains:
+    #     - "odrive"
+    #   remove_prefix:
+    #     - "cabot odriver_node: "
+
+    hard_hesailidar:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: "Hard: HesaiLidar"
+      contains:
+        - "hesai"
+      remove_prefix:
+        - "hesai_lidar: "
\ No newline at end of file
diff --git a/dependency.repos b/dependency.repos
index 6d407776..6f074d3d 100644
--- a/dependency.repos
+++ b/dependency.repos
@@ -44,9 +44,9 @@ repositories:
   cabot-common:
     type: git
     url: https://github.com/CMU-cabot/cabot-common
-    version: main
+    version: dev
 
   cabot-description:
     type: git
     url: https://github.com/CMU-cabot/cabot-description
-    version: main
+    version: dev
diff --git a/docker-compose-build.yaml b/docker-compose-build.yaml
deleted file mode 100644
index baace5bd..00000000
--- a/docker-compose-build.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-services:
-  navigation-production:
-    build:
-      context: ./docker/ros2
-      additional_contexts:
-        cabot_src: ./
diff --git a/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml b/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml
index d458f03f..632fc2af 100644
--- a/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml
+++ b/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml
@@ -11,6 +11,8 @@ ublox:
     uart1:
       baudrate: 230400
 
+    rate: 10.0 # Hz
+
     # message publishers
     publish:
       all: false