diff --git a/.mergify.yml b/.mergify.yml
deleted file mode 100644
index 1772026..0000000
--- a/.mergify.yml
+++ /dev/null
@@ -1,16 +0,0 @@
-pull_request_rules:
-  - name: assign PR to its author
-    conditions:
-      - base = main
-    actions:
-      assign:
-        add_users:
-          - "{{author}}"
-  - name: review request for all PRs
-    conditions:
-      - base = main
-    actions:
-      request_reviews:
-        users:
-          - GreatAlexander
-          - hect95
diff --git a/Dockerfile b/Dockerfile
index 857043f..b7af8c7 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,33 +1,21 @@
 FROM ros:humble-ros-base-jammy AS base
 
-# Switch to much faster mirror for apt processes
-ENV OLD_MIRROR archive.ubuntu.com
-ENV SEC_MIRROR security.ubuntu.com
-ENV NEW_MIRROR mirror.bytemark.co.uk
-
-RUN sed -i "s/$OLD_MIRROR\|$SEC_MIRROR/$NEW_MIRROR/g" /etc/apt/sources.list
-
 # Install basic dev tools (And clean apt cache afterwards)
 RUN apt-get update \
     && DEBIAN_FRONTEND=noninteractive \
         apt-get -y --quiet --no-install-recommends install \
         # Install Lord IMU driver pkg
         ros-"$ROS_DISTRO"-microstrain-inertial-driver \
-        # Install Cyclone DDS ROS RMW
-        ros-"$ROS_DISTRO"-rmw-cyclonedds-cpp \
+        # Install Zenoh ROS2 RMW
+        ros-"$ROS_DISTRO"-rmw-zenoh-cpp \
     && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS workspace folder
-ENV ROS_WS /opt/ros_ws
+ENV ROS_WS=/opt/ros_ws
 WORKDIR $ROS_WS
 
-# Set cyclone DDS ROS RMW
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-COPY ./cyclone_dds.xml $ROS_WS/
-
-# Configure Cyclone cfg file
-ENV CYCLONEDDS_URI=file://${ROS_WS}/cyclone_dds.xml
+# Setup Zenoh ROS2 RMW
+ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp
 
 # Enable ROS log colorised output
 ENV RCUTILS_COLORIZED_OUTPUT=1
diff --git a/cyclone_dds.xml b/cyclone_dds.xml
deleted file mode 100644
index bcc9278..0000000
--- a/cyclone_dds.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config
-https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
-    <Domain id="any">
-        <General>
-            <Interfaces>
-              <NetworkInterface name="enp129s0f1" />
-            </Interfaces>
-        </General>
-        <Internal>
-            <SocketReceiveBufferSize min="10MB"/>
-        </Internal>
-    </Domain>
-</CycloneDDS>
diff --git a/dev.sh b/dev.sh
index 66dfed4..905d621 100755
--- a/dev.sh
+++ b/dev.sh
@@ -3,21 +3,15 @@
 # Build docker dev stage and add local code for live development
 # ----------------------------------------------------------------
 
-CYCLONE_VOL=""
 BASH_CMD=""
 
-# Default cyclone_dds.xml path
-CYCLONE_DIR=/home/$USER/cyclone_dds.xml
-
 # Function to print usage
 usage() {
     echo "
-Usage: dev.sh [-b|bash] [-l|--local] [-h|--help]
+Usage: dev.sh [-b|bash] [-h|--help]
 
 Where:
     -b | bash       Open bash in docker container (Default in dev.sh)
-    -l | --local    Use default local cyclone_dds.xml config
-    -l | --local    Optionally point to absolute -l /path/to/cyclone_dds.xml
     -h | --help     Show this help message
     "
     exit 1
@@ -29,16 +23,6 @@ while [[ "$#" -gt 0 ]]; do
         -b|bash)
             BASH_CMD=bash
             ;;
-        -l|--local)
-            # Avoid getting confused if bash is written where path should be
-            if [ -n "$2" ]; then
-                if [ ! $2 = "bash" ]; then
-                    CYCLONE_DIR="$2"
-                    shift
-                fi
-            fi
-            CYCLONE_VOL="-v $CYCLONE_DIR:/opt/ros_ws/cyclone_dds.xml"
-            ;;
         -h|--help)
             usage
             ;;
@@ -50,14 +34,6 @@ while [[ "$#" -gt 0 ]]; do
     shift
 done
 
-# Verify CYCLONE_DIR exists
-if [ -n "$CYCLONE_VOL" ]; then
-    if [ ! -f "$CYCLONE_DIR" ]; then
-        echo "$CYCLONE_DIR does not exist! Please provide a valid path to cyclone_dds.xml"
-        exit 1
-    fi
-fi
-
 # Build docker image up to dev stage
 DOCKER_BUILDKIT=1 docker build \
     -t av_imu:latest-dev \
@@ -69,5 +45,4 @@ docker run -it --rm --net host --privileged \
     -v /tmp:/tmp \
     -v /etc/localtime:/etc/localtime:ro \
     -v ./av_imu_launch:/opt/ros_ws/src/av_imu_launch \
-    $CYCLONE_VOL \
     av_imu:latest-dev
diff --git a/runtime.sh b/runtime.sh
index c311ff0..a6517be 100755
--- a/runtime.sh
+++ b/runtime.sh
@@ -3,21 +3,15 @@
 # Build docker image and run ROS code for runtime or interactively with bash
 # ---------------------------------------------------------------------------
 
-CYCLONE_VOL=""
 BASH_CMD=""
 
-# Default cyclone_dds.xml path
-CYCLONE_DIR=/home/$USER/cyclone_dds.xml
-
 # Function to print usage
 usage() {
     echo "
-Usage: dev.sh [-b|bash] [-l|--local] [-h|--help]
+Usage: dev.sh [-b|bash] [-h|--help]
 
 Where:
     -b | bash       Open bash in docker container (Default in dev.sh)
-    -l | --local    Use default local cyclone_dds.xml config
-    -l | --local    Optionally point to absolute -l /path/to/cyclone_dds.xml
     -h | --help     Show this help message
     "
     exit 1
@@ -29,16 +23,6 @@ while [[ "$#" -gt 0 ]]; do
         -b|bash)
             BASH_CMD=bash
             ;;
-        -l|--local)
-            # Avoid getting confused if bash is written where path should be
-            if [ -n "$2" ]; then
-                if [ ! $2 = "bash" ]; then
-                    CYCLONE_DIR="$2"
-                    shift
-                fi
-            fi
-            CYCLONE_VOL="-v $CYCLONE_DIR:/opt/ros_ws/cyclone_dds.xml"
-            ;;
         -h|--help)
             usage
             ;;
@@ -50,14 +34,6 @@ while [[ "$#" -gt 0 ]]; do
     shift
 done
 
-# Verify CYCLONE_DIR exists
-if [ -n "$CYCLONE_VOL" ]; then
-    if [ ! -f "$CYCLONE_DIR" ]; then
-        echo "$CYCLONE_DIR does not exist! Please provide a valid path to cyclone_dds.xml"
-        exit 1
-    fi
-fi
-
 # Build docker image only up to base stage
 DOCKER_BUILDKIT=1 docker build \
     -t av_imu:latest \
@@ -68,5 +44,4 @@ docker run -it --rm --net host --privileged \
     -v /dev:/dev \
     -v /tmp:/tmp \
     -v /etc/localtime:/etc/localtime:ro \
-    $CYCLONE_VOL \
     av_imu:latest $CMD