diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index e413518576..ef7f1e0b31 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -9,9 +9,51 @@ RUN apt-get update \
   && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir /src && mkdir /src/astrobee
+
+
+# installing opencv4
+RUN apt-get purge -y libopencv*
+
+RUN cd /home
+RUN mkdir opencv && cd opencv
+
+RUN wget https://github.com/opencv/opencv/archive/refs/tags/4.2.0.zip
+RUN unzip 4.2.0.zip
+RUN rm 4.2.0.zip
+RUN wget https://github.com/opencv/opencv_contrib/archive/refs/tags/4.2.0.zip
+RUN unzip 4.2.0.zip
+RUN rm 4.2.0.zip
+
+RUN sudo apt update
+RUN sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
+    libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
+    libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
+    gfortran openexr libatlas-base-dev python3-dev python3-numpy \
+    libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
+    libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
+
+RUN apt-get install opencl-headers
+
+RUN cd /home/opencv/opencv-4.2.0
+RUN mkdir -p build && cd build
+
+RUN cmake -D CMAKE_BUILD_TYPE=RELEASE \
+    -D CMAKE_INSTALL_PREFIX=/usr/local \
+    -D INSTALL_C_EXAMPLES=ON \
+    -D INSTALL_PYTHON_EXAMPLES=ON \
+    -D OPENCV_GENERATE_PKGCONFIG=ON \
+    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.2.0/modules \
+    -D BUILD_EXAMPLES=ON ..
+
+RUN make -j4
+RUN sudo make install
+
+RUN export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/opencv/opencv-4.2.0/build/lib
+
+# zsh
 RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.5/zsh-in-docker.sh)" -- \
     -t robbyrussell
 RUN echo source /opt/ros/rolling/setup.zsh >> /root/.zshrc
 RUN echo source /src/astrobee/install/setup.zsh >> /root/.zshrc
 CMD [ "zsh" ]
-ENV MAKEFLAGS="-j4"
\ No newline at end of file
+ENV MAKEFLAGS="-j4"
diff --git a/description/astrobee_media b/description/astrobee_media
new file mode 160000
index 0000000000..316dd695ae
--- /dev/null
+++ b/description/astrobee_media
@@ -0,0 +1 @@
+Subproject commit 316dd695ae33fd78f7706f2657e1fd640a24cfdc
diff --git a/scripts/install_opencv4.txt b/scripts/install_opencv4.txt
new file mode 100644
index 0000000000..15735ce028
--- /dev/null
+++ b/scripts/install_opencv4.txt
@@ -0,0 +1,39 @@
+apt-get purge -y libopencv*
+
+cd /home
+mkdir opencv && cd opencv
+
+wget https://github.com/opencv/opencv/archive/refs/tags/4.2.0.zip
+unzip 4.2.0.zip
+rm 4.2.0.zip
+wget https://github.com/opencv/opencv_contrib/archive/refs/tags/4.2.0.zip
+unzip 4.2.0.zip
+rm 4.2.0.zip
+
+sudo apt update
+sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
+    libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
+    libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
+    gfortran openexr libatlas-base-dev python3-dev python3-numpy \
+    libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
+    libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
+
+apt-get install opencl-headers
+
+cd /home/opencv/opencv-4.2.0
+mkdir -p build && cd build
+
+cmake -D CMAKE_BUILD_TYPE=RELEASE \
+    -D CMAKE_INSTALL_PREFIX=/usr/local \
+    -D INSTALL_C_EXAMPLES=ON \
+    -D INSTALL_PYTHON_EXAMPLES=ON \
+    -D OPENCV_GENERATE_PKGCONFIG=ON \
+    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.2.0/modules \
+    -D BUILD_EXAMPLES=ON ..
+
+
+make -j4
+sudo make install
+
+
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/opencv/opencv-4.2.0/build/lib
diff --git a/shared/config_reader/CMakeLists.txt b/shared/config_reader/CMakeLists.txt
index 54dc830e28..557ccb72b3 100644
--- a/shared/config_reader/CMakeLists.txt
+++ b/shared/config_reader/CMakeLists.txt
@@ -44,6 +44,7 @@ include_directories(
   include
   ${rclcpp_INCLUDE_DIRS}
   ${LUAJIT_INCLUDE_DIR}
+  ${ff_common_INCLUDE_DIR}
 )
 
 # Declare C++ libraries
diff --git a/shared/ff_common/CMakeLists.txt b/shared/ff_common/CMakeLists.txt
index e3a86dbb41..f5b79ead7a 100644
--- a/shared/ff_common/CMakeLists.txt
+++ b/shared/ff_common/CMakeLists.txt
@@ -39,6 +39,7 @@ include_directories(
   include
   ${rclcpp_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
+  ${ff_common_INCLUDE_DIRS}
 )
 
 # Declare C++ libraries