diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 07b2f50..edcca20 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -8,11 +8,28 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
+
+    env:
+      DEBIAN_FRONTEND: noninteractive
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    strategy:
+      matrix:
+        include:
+          - docker_image: ubuntu:20.04
+          - docker_image: ubuntu:22.04
 
     steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
+
+      - name: install sudo
+        run: |
+          apt update
+          apt install -y sudo
+
+      - uses: actions/checkout@v4
 
       - name: setup
         run: |
diff --git a/Core/CMakeLists.txt b/Core/CMakeLists.txt
index 8050819..bb06f11 100644
--- a/Core/CMakeLists.txt
+++ b/Core/CMakeLists.txt
@@ -100,7 +100,7 @@ add_definitions(-DNVIDIA_VARYINGS)
 
 CUDA_COMPILE(cuda_objs ${cuda})
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -msse -msse2 -msse3 -DSHADER_DIR=${MULTIMOTIONFUSION_SHADER_DIR}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3 -DSHADER_DIR=${MULTIMOTIONFUSION_SHADER_DIR}")
 
 if(CMAKE_BUILD_TYPE MATCHES Debug)
     message(STATUS "Debug build.")
diff --git a/Core/Model/Model.cpp b/Core/Model/Model.cpp
index 06ae45c..045876c 100644
--- a/Core/Model/Model.cpp
+++ b/Core/Model/Model.cpp
@@ -20,6 +20,7 @@
 #include "ModelMatching.h"
 
 #include <opencv2/opencv.hpp>
+#include <opencv2/viz/types.hpp>
 #include <opencv2/core/eigen.hpp>
 
 #include "Utils/RigidRANSAC.h"
@@ -1464,7 +1465,7 @@ void Model::exportTracksPLY(const tracker::Tracks &tracks, const std::string &pa
   ss_hdr << "ply" << std::endl << "format " << fmt << " 1.0" << std::endl;
 
   ss_hdr << "element vertex " << vert_id << std::endl;
-  for(const std::string &c : {"x", "y", "z"}) {
+  for(const char *c : {"x", "y", "z"}) {
     ss_hdr << "property float32 " << c << std::endl;
   }
   if (with_descriptor) {
diff --git a/GUI/CMakeLists.txt b/GUI/CMakeLists.txt
index 5c43949..39ae3e7 100644
--- a/GUI/CMakeLists.txt
+++ b/GUI/CMakeLists.txt
@@ -6,16 +6,20 @@ set(CMAKE_CXX_STANDARD 17)
 
 message(STATUS "Evaluating GUI/CMAKE")
 
-option(ROSBAG "rosbag reader" ON)
+if($ENV{ROS_VERSION} EQUAL 1)
+    set(HASROS1 ON)
+endif()
+
+option(ROSBAG "rosbag reader" ${HASROS1})
 
-option(ROSNODE "read images live as ROS node" ON)
+option(ROSNODE "read images live as ROS node" ${HASROS1})
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}")
 find_package(ZLIB REQUIRED)
 find_package(CUDA REQUIRED)
 find_package(OpenNI2 REQUIRED)
 find_package(OpenCV REQUIRED )
-find_package(Boost REQUIRED)
+find_package(Boost REQUIRED filesystem)
 find_package(JPEG REQUIRED)
 
 # TODO: Why do we have to do this here again?
@@ -58,7 +62,7 @@ message(STATUS "CMAKE_CURRENT_SOURCE_DIR/../Core: ${${CMAKE_CURRENT_SOURCE_DIR}/
 file(GLOB srcs *.cpp)
 file(GLOB tools_srcs Tools/*.cpp)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -msse -msse2 -msse3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3")
 
 if(CMAKE_BUILD_TYPE MATCHES Debug)
     message(STATUS "Debug build.")
@@ -89,8 +93,7 @@ target_link_libraries(MultiMotionFusionTools
                       ${CUDA_LIBRARIES}
                       ${OPENNI2_LIBRARY}
                       ${OpenCV_LIBRARIES}
-                      boost_filesystem
-                      boost_system
+                      Boost::filesystem
                       pthread
 )
 
@@ -104,6 +107,8 @@ target_include_directories(MultiMotionFusionTools PUBLIC
                             ${BOOST_INCLUDE_DIRS}
 )
 
+set_property(TARGET MultiMotionFusionTools PROPERTY CXX_STANDARD 17)
+
 if(ROSBAG)
     target_include_directories(MultiMotionFusionTools PUBLIC
         ${rosbag_INCLUDE_DIRS}
diff --git a/doc/install.sh b/doc/install.sh
index f59332b..b035583 100755
--- a/doc/install.sh
+++ b/doc/install.sh
@@ -1,19 +1,37 @@
 #!/usr/bin/env bash
 
+set -e
+
+source /etc/lsb-release
+
+if [ "$DISTRIB_RELEASE" = "20.04" ]; then
+    ROS_DIST="noetic"
+elif [ "$DISTRIB_RELEASE" = "22.04" ]; then
+    ROS_DIST="humble"
+else
+    echo "unsupported Ubuntu distribution"
+    exit 1
+fi
+
+source /opt/ros/${ROS_DIST}/setup.bash
+
+# determine repo from environment variables inside CI or use defaults
+MMF_REPO_URL="${GITHUB_SERVER_URL:-https://github.com}/${GITHUB_REPOSITORY:-christian-rauch/MultiMotionFusion}"
+MMF_BRANCH="${GITHUB_HEAD_REF:-master}"
+
 echo "setup workspace"
-source /opt/ros/noetic/setup.bash
-mkdir ~/mmf_ws/
+mkdir -p ~/mmf_ws/
 cd ~/mmf_ws/
 vcs import << EOF
 repositories:
   src/MultiMotionFusion:
     type: git
-    url: https://github.com/christian-rauch/MultiMotionFusion.git
-    version: master
+    url: ${MMF_REPO_URL}.git
+    version: ${MMF_BRANCH}
   src/Pangolin:
     type: git
     url: https://github.com/stevenlovegrove/Pangolin.git
-    version: master
+    version: v0.8
   src/densecrf:
     type: git
     url: https://github.com/christian-rauch/densecrf.git
@@ -34,7 +52,5 @@ EOF
 rosdep install --from-paths src --ignore-src -y
 
 echo "build workspace"
-source /opt/ros/noetic/setup.bash
-export CUDACXX=/usr/local/cuda-11.3/bin/nvcc
 cd ~/mmf_ws/
-colcon build --cmake-args "-DCMAKE_BUILD_TYPE=Release"
+colcon build --cmake-args -D CMAKE_BUILD_TYPE=Release -D CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc
diff --git a/doc/setup.sh b/doc/setup.sh
index a20f8dd..22e824c 100755
--- a/doc/setup.sh
+++ b/doc/setup.sh
@@ -1,20 +1,42 @@
 #!/usr/bin/env bash
 
+set -e
+
+sudo apt update
+sudo -E apt install -y software-properties-common
+sudo add-apt-repository -y universe
+sudo apt update
+sudo -E apt install -y curl wget
+
+source /etc/lsb-release
+
+if [ "$DISTRIB_RELEASE" = "20.04" ]; then
+    CUDA_REPO_VER="ubuntu2004"
+    ROS_VER=""
+    ROS_DIST="noetic"
+elif [ "$DISTRIB_RELEASE" = "22.04" ]; then
+    CUDA_REPO_VER="ubuntu2204"
+    ROS_VER="2"
+    ROS_DIST="humble"
+else
+    echo "unsupported Ubuntu distribution"
+    exit 1
+fi
+
 echo "install CUDA"
-wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
-sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
-sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub
-sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /"
-sudo apt install --no-install-recommends -y cuda-libraries-dev-11-3 cuda-compiler-11-3 cuda-nvtx-11-3 libcudnn8-dev
+wget https://developer.download.nvidia.com/compute/cuda/repos/${CUDA_REPO_VER}/x86_64/cuda-keyring_1.1-1_all.deb
+sudo dpkg -i cuda-keyring_1.1-1_all.deb
+rm cuda-keyring_1.1-1_all.deb
+sudo apt update
+sudo apt install --no-install-recommends -y cuda-libraries-dev-11-8 cuda-compiler-11-8 cuda-nvtx-11-8 libcudnn8-dev
 
-echo "install ROS"
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+echo "install ROS ${ROS_VER}"
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros${ROS_VER}/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros${ROS_VER}.list > /dev/null
 sudo apt update
-sudo apt install --no-install-recommends -y ros-noetic-ros-base
-echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+sudo -E apt install --no-install-recommends -y ros-${ROS_DIST}-ros-base ros-dev-tools
+echo "source /opt/ros/${ROS_DIST}/setup.bash" >> ~/.bashrc
 
-echo "install vcstool, rosdep, colcon"
-sudo pip3 install -U vcstool rosdep colcon-common-extensions
+echo "initialise rosdep"
 sudo rosdep init
 rosdep update
diff --git a/package.xml b/package.xml
index e0c4cd6..e95165a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>mmf</name>
   <version>0.0.0</version>
   <description>The MultiMotionFusion package</description>
@@ -43,28 +43,16 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>cmake</buildtool_depend>
 
-  <build_depend>eigen</build_depend>
-  <build_depend>gslicr</build_depend>
-  <build_depend>densecrf</build_depend>
-  <build_depend>libboost-dev</build_depend>
-  <build_depend>pangolin</build_depend>
-  <build_depend>suitesparse</build_depend>
-  <build_depend>libopenni2-dev</build_depend>
-  <build_export_depend>eigen</build_export_depend>
-  <build_export_depend>gslicr</build_export_depend>
-  <build_export_depend>libboost-dev</build_export_depend>
-  <build_export_depend>pangolin</build_export_depend>
-  <build_export_depend>suitesparse</build_export_depend>
-  <build_export_depend>libopenni2-dev</build_export_depend>
-  <exec_depend>eigen</exec_depend>
-  <exec_depend>gslicr</exec_depend>
-  <exec_depend>densecrf</exec_depend>
-  <exec_depend>libboost-dev</exec_depend>
-  <exec_depend>pangolin</exec_depend>
-  <exec_depend>suitesparse</exec_depend>
-  <exec_depend>libopenni2-dev</exec_depend>
+  <depend>eigen</depend>
+  <depend>gslicr</depend>
+  <depend>densecrf</depend>
+  <depend>libboost-dev</depend>
+  <depend>libboost-filesystem-dev</depend>
+  <depend>pangolin</depend>
+  <depend>suitesparse</depend>
+  <depend>libopenni2-dev</depend>
 
-  <depend>rosbag</depend>
+  <depend condition="$ROS_VERSION == 1">rosbag</depend>
   <depend>tf2</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_eigen</depend>
@@ -73,7 +61,7 @@
   <depend>cv_bridge</depend>
   <depend>image_geometry</depend>
   <depend>super_point_inference</depend>
-  <depend>eigen_conversions</depend>
+  <depend condition="$ROS_VERSION == 1">eigen_conversions</depend>
   <depend>cob_srvs</depend>
 
   <export>