diff --git a/.gitignore b/.gitignore
index 14027d8..f56ebec 100755
--- a/.gitignore
+++ b/.gitignore
@@ -4,4 +4,6 @@ config
 cougars-ros2
 cougars-teensy
 cougars-gpio
-cougars-docs
\ No newline at end of file
+cougars-docs
+cougars-base-station
+cougars_base_station
\ No newline at end of file
diff --git a/compose.sh b/compose.sh
index 4f77be4..95c86a9 100755
--- a/compose.sh
+++ b/compose.sh
@@ -7,6 +7,8 @@
 # - This can also be used to open a new bash terminal in an already running container
 # - Make sure you run this from the root of the top-level repo
 
+source config/bash_vars.sh
+
 function printInfo {
   echo -e "\033[0m\033[36m[INFO] $1\033[0m"
 }
@@ -19,6 +21,8 @@ function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
 
+printWarning "This script should be run from the root of the CoUGARS directory"
+
 case $1 in
   "down")
     # Check the system architecture
@@ -39,6 +43,10 @@ case $1 in
       printInfo "Loading the development image..."
       docker compose -f docker/docker-compose-dev.yaml up -d
     fi
+
+    # Quick permission fix for GPIO access in the container
+    docker exec --user root cougars bash -c "bash /home/frostlab/gpio/permission_fix.sh $GPIO_CHIP"
+
     docker exec -it cougars bash
-  ;;
+    ;;
 esac
diff --git a/coug_launch_mission.sh b/coug_launch_mission.sh
new file mode 100644
index 0000000..2d0c757
--- /dev/null
+++ b/coug_launch_mission.sh
@@ -0,0 +1,68 @@
+#!/bin/bash
+# Created by Brighton Anderson, NOV 2024
+
+# Make sure the router is powered on before running this script
+
+# Check if sshpass is installed, and install it if it isn't
+if ! command -v sshpass &> /dev/null; then
+    echo "sshpass could not be found, installing..."
+    sudo apt update
+    sudo apt install -y sshpass
+fi
+
+# Define device variables
+declare -A DEVICES=(
+    [1]="coug1.local"
+    [2]="coug2.local"
+    [3]="coug3.local"
+    [4]="coug4.local"
+    [5]="coug5.local"
+)
+
+# Define username and password
+declare -A CREDENTIALS=(
+    [1]="frostlab:frostlab"
+    [2]="frostlab:frostlab"
+    [3]="frostlab:frostlab"
+    [4]="frostlab:frostlab"
+    [5]="frostlab:frostlab"
+)
+
+# Function to display menu
+display_menu() {
+    echo "Select a device to SSH into:"
+    echo "1. Coug1"
+    echo "2. Coug2"
+    echo "3. Coug3"
+    echo "4. Coug4"
+    echo "5. Coug5"
+    echo "Enter your choice (1-5):"
+}
+
+# Main script
+# Display the menu
+display_menu
+
+# Read user input
+read -r choice
+
+# Validate input
+if [[ ! "$choice" =~ ^[1-5]$ ]]; then
+    echo "Invalid input. Please enter a number between 1 and 5."
+    exit 1
+fi
+
+# Split credentials
+IFS=':' read -r USERNAME PASSWORD <<< "${CREDENTIALS[$choice]}"
+
+# Get the selected device IP
+DEVICE_IP="${DEVICES[$choice]}"
+
+# Define the command to execute
+COMMAND="cd ~/CoUGARs
+         bash tmux.sh -i"
+
+
+# Connect to the selected device
+echo "Connecting to ${DEVICE_IP}..."
+sshpass -p "$PASSWORD" ssh -t -o StrictHostKeyChecking=no "$USERNAME@$DEVICE_IP" "$COMMAND"
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 16c9f83..c8e0c88 100755
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -197,5 +197,8 @@ USER root
 RUN apt update && apt upgrade -y
 USER ${LABNAME}
 
+# Set up bash variable sourcing (Make sure this exists as a volume when you run the container!)
+RUN echo "source /home/${LABNAME}/config/bash_vars.sh" >> ~/.bashrc
+
 # Colorized ROS 2 logging output
 RUN echo "export RCUTILS_COLORIZED_OUTPUT=1" >> /home/${LABNAME}/.bashrc
diff --git a/docker/docker-compose-dev.yaml b/docker/docker-compose-dev.yaml
index 6926260..d118783 100755
--- a/docker/docker-compose-dev.yaml
+++ b/docker/docker-compose-dev.yaml
@@ -22,9 +22,11 @@ services:
       - ../cougars-ros2:/home/frostlab/ros2_ws
       - ../cougars-teensy:/home/frostlab/teensy_ws
       - ../cougars-gpio:/home/frostlab/gpio
+      - ../cougars-docs:/home/frostlab/docs
+      - ../cougars-base-station:/home/frostlab/base_station
       - /etc/localtime:/etc/localtime:ro # Syncs the container's time with the host
       - /tmp/.X11-unix:/tmp/.X11-unix # Required for GUI applications
-          command: /bin/bash
+    command: /bin/bash
     stdin_open: true  # Equivalent to -it in docker run
     tty: true  # Equivalent to -it in docker run
     restart: always  # Optional: Keeps the container running after exit unless you want it to be removed like with --rm
\ No newline at end of file
diff --git a/setup.sh b/setup.sh
index 522b59e..4dc8b40 100755
--- a/setup.sh
+++ b/setup.sh
@@ -18,9 +18,17 @@ function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
 
+printWarning "This script should be run from the root of the CoUGARS directory"
+
 if [ "$(uname -m)" == "aarch64" ]; then
 
+  ### START RT-SPECIFIC SETUP ###
+
   printInfo "Setting up CoUGARs on a Raspberry Pi 5"
+
+  # Update and upgrade the system
+  sudo apt update
+  sudo apt upgrade -y
             
   # Install Docker if not already installed
   if ! [ -x "$(command -v docker)" ]; then
@@ -33,55 +41,103 @@ if [ "$(uname -m)" == "aarch64" ]; then
   fi
 
   # Install dependencies
-  sudo apt update
-  sudo apt upgrade -y
   sudo apt install -y vim tmux chrony git mosh
 
-  # Set up volumes
-  mkdir bag
-  mkdir config
-  cp -r templates/* config/
+  ### END RT-SPECIFIC SETUP ###
 
-  # Set up udev rules
-  sudo ln -s config/local/00-teensy.rules /etc/udev/rules.d/00-teensy.rules
-  sudo udevadm control --reload-rules
-  sudo udevadm trigger
+else
 
-  # Quick GPIO permission fix (one of the two should work)
-  sudo chmod 777 /dev/gpiochip4
-  sudo chmod 777 /dev/gpiochip0
+  ### START DEV-SPECIFIC SETUP ###
 
-  # Set up config files
-  sudo ln -s config/local/chrony.conf /etc/chrony/chrony.conf
-  sudo ln -s config/local/.tmux.conf ~/.tmux.conf
+  printInfo "Setting up CoUGARs on a development machine"
 
-  # Copy repos from GitHub
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
+  # Install dependencies
+  sudo apt install -y vim tmux git mosh
 
-else
+  ### END DEV-SPECIFIC SETUP ###
 
-  printInfo "Setting up CoUGARs on a development machine"
+fi
 
-  # Install dependencies
-  sudo apt update
-  sudo apt install -y vim tmux git
+# Set up bag directory
+if [ -d "bag" ]; then
+    printWarning "The bag directory already exists"
+else
+    mkdir bag
+fi
 
-  # Set up volumes
-  mkdir bag
-  mkdir config
-  cp -r templates/* config/
+# Set up config directory
+if [ -d "config" ]; then
+    printWarning "The config directory already exists -- skipping copying templates"
+else
+    mkdir config
+    cp -r templates/* config/
+fi
 
-  # Set up config files
+# Set up tmux config file
+if [ -f ~/.tmux.conf ]; then
+    printWarning "The tmux config symlink already exists"
+else
   sudo ln -s config/local/.tmux.conf ~/.tmux.conf
+fi
+
+if [ "$(uname -m)" == "aarch64" ]; then
+
+  ### START RT-SPECIFIC SETUP ###
+
+  # Set up chrony config file
+  if [ -f /etc/chrony/chrony.conf ]; then
+      printWarning "The chrony config symlink already exists"
+  else
+      sudo ln -s config/local/chrony.conf /etc/chrony/chrony.conf
+  fi
+
+  # Set up udev rules
+  if [ -f /etc/udev/rules.d/00-teensy.rules ]; then
+      printWarning "The udev rules symlink already exists"
+  else
+      sudo ln -s config/local/00-teensy.rules /etc/udev/rules.d/00-teensy.rules
+      sudo udevadm control --reload-rules
+      sudo udevadm trigger
+  fi
+
+  ### END RT-SPECIFIC SETUP ###
+
+else 
+
+  ### START DEV-SPECIFIC SETUP ###
+
+  # TODO: Maybe not needed if we do all the work in the Docker image?
+  # Get the CoUGARs workspace location on the development machine
+  current_dir=$(pwd)
+  source_file=$current_dir/config/bash_vars.sh
+
+  # Attempt to add the current workspace directory to the source file
+  if ! grep -q "COUG_WORKSPACE_DIR" $source_file; then
+    echo "export COUG_WORKSPACE_DIR=$current_dir" >> $source_file
+    printInfo "Saved the CoUGARs workspace path to $source_file"
+  else
+    printWarning "The CoUGARs workspace path already exists in $source_file"
+  fi
+
+  # Attempt to add the source file to the local user's .bashrc
+  if ! grep -q "source $source_file" ~/.bashrc; then
+    echo "source $source_file" >> ~/.bashrc
+    printInfo "Added automatic sourcing of bash variables to .bashrc"
+  else
+    printWarning "Automatic sourcing of bash variables is already set up in .bashrc"
+  fi
 
   # Copy repos from GitHub
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
   git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-base-station.git
+
+  ### END DEV-SPECIFIC SETUP ###
 
 fi
 
-printWarning "Make sure to update the vehicle-specific configuration files in "config" now"
+# Copy repos from GitHub
+git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
+git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
+git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
+
+printInfo "Make sure to update the vehicle-specific configuration files in "config" now"
diff --git a/templates/bash_vars.sh b/templates/bash_vars.sh
index 8dd504c..86f9943 100755
--- a/templates/bash_vars.sh
+++ b/templates/bash_vars.sh
@@ -11,4 +11,8 @@ export VEHICLE_PARAMS_FILE=/home/frostlab/config/vehicle_params.yaml # ex. /home
 export GPIO_CHIP=/dev/gpiochip0 # ex. /dev/gpiochip0
 
 # Run "ifconfig eth0 | grep 'inet ' | awk '{print $2}'" from OUTSIDE THE DOCKER CONTAINER and copy that number (ex. "192.168.194.59") here
-export STATIC_IP=0
\ No newline at end of file
+export STATIC_IP=0
+
+# TODO: Maybe not needed if we do all the work in the Docker image?
+# Workspace directory of CoUGARS repository on a development machine
+# This should be automatically set by 'setup.sh' to the root of the CoUGARS repository if not running on a CougUV
diff --git a/templates/gpio_def.py b/templates/gpio_def.py
index 50a5ef7..bfd4c3c 100755
--- a/templates/gpio_def.py
+++ b/templates/gpio_def.py
@@ -13,4 +13,4 @@
 STROBE_PIN = 15 # 15
 STROBE_RATE = 1 # seconds
 
-GPIO_CHIP = '/dev/gpiochip4' # ex. '/dev/gpiochip4'
+GPIO_CHIP = '/dev/gpiochip0' # ex. '/dev/gpiochip0'
diff --git a/templates/sim_params.yaml b/templates/sim_params.yaml
index 5f3c072..539b652 100755
--- a/templates/sim_params.yaml
+++ b/templates/sim_params.yaml
@@ -6,7 +6,7 @@
 
 /**:
   ros__parameters:
-    water_salinity_ppt: 0.0 # 0 for fresh water, 35 for salt water
+    water_salinity_ppt: 0.0 # 0.0 for fresh water, 35.0 for salt water
     magnetic_declination: 10.7 # E is positive, W is negative, 10.70° E for Utah Lake
     # https://www.ngdc.noaa.gov/geomag/calculators/magcalc.shtml?
 
diff --git a/tmux.sh b/tmux.sh
index 21b473a..dc16ea2 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -27,33 +27,65 @@ case $1 in
 
       printInfo "Starting the tmux session..."
 
+      ### FIRST WINDOW - ROS SCRIPTS ###
+
       # Start the tmux session
-      tmux new-session -d -s cougars
+      tmux new-session -d -s cougars -n "coug"
       tmux split-window -h -t cougars
       tmux split-window -v -t cougars
-      tmux select-pane -t cougars:0.0
+      tmux select-pane -t cougars:coug.0
       tmux split-window -v -t cougars
-      tmux select-pane -t cougars:0.0
+      tmux select-pane -t cougars:coug.0
 
       # Send commands to the tmux session
-      tmux send-keys -t cougars:0.0 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.0 "clear" ENTER
-      tmux send-keys -t cougars:0.1 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.1 "clear" ENTER
-      tmux send-keys -t cougars:0.2 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.2 "clear" ENTER
-      tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.3 "clear" ENTER
-
-      tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.0 "ls" ENTER
-      tmux send-keys -t cougars:0.0 "bash launch.sh" # Don't start just yet
-      tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.1 "bash test.sh" # Don't start just yet
-      tmux send-keys -t cougars:0.2 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.2 "bash record.sh" # Don't start just yet
-      tmux send-keys -t cougars:0.3 "cd ~/config" ENTER
-      tmux send-keys -t cougars:0.3 "cat vehicle_params.yaml" ENTER
+      tmux send-keys -t cougars:coug.0 "echo 'frostlab' | sudo -S systemctl restart chrony" ENTER
+
+      tmux send-keys -t cougars:coug.0 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.0 "clear" ENTER
+      tmux send-keys -t cougars:coug.1 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.1 "clear" ENTER
+      tmux send-keys -t cougars:coug.2 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.2 "clear" ENTER
+      tmux send-keys -t cougars:coug.3 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.3 "clear" ENTER
+
+      tmux send-keys -t cougars:coug.0 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.0 "bash launch.sh <mission_type>" # Don't start just yet
+
+      tmux send-keys -t cougars:coug.1 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.1 "bash test.sh <acoustics>" # Don't start just yet
+
+      tmux send-keys -t cougars:coug.2 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.2 "bash record.sh <acoustics>" # Don't start just yet
+
+      tmux send-keys -t cougars:coug.3 "cd ~/config" ENTER
+      tmux send-keys -t cougars:coug.3 "cat vehicle_params.yaml" ENTER
+
+      ### SECOND WINDOW - MOOS SCRIPTS ###
+
+      tmux new-window -t cougars -n "moos" # New window or split terminal again?
+      tmux split-window -h -t cougars:moos
+      tmux select-pane -t cougars:moos.0
+      tmux split-window -v -t cougars:moos.0
+
+      tmux send-keys -t cougars:moos.0 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos.0 "clear" ENTER
+      tmux send-keys -t cougars:moos.1 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos.1 "clear" ENTER
+      tmux send-keys -t cougars:moos.2 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos.2 "clear" ENTER
+
+      tmux send-keys -t cougars:moos.0 "date" ENTER
+
+      tmux send-keys -t cougars:moos.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
+      tmux send-keys -t cougars:moos.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
+      
+
+      tmux send-keys -t cougars:moos.2 "cd ~/ros2_ws/moos_tools" ENTER
+      tmux send-keys -t cougars:moos.2 "timeout 120s pAntler coug.moos" # Don't start just yet
+
+      # TODO: Add more terminals, etc
+      # I bet Matthew has some good ideas
 
     else
       printInfo "Attaching to the tmux session..."
@@ -63,3 +95,11 @@ case $1 in
     tmux attach-session -t cougars
     ;;
 esac
+
+# I added some comments -Nelson
+
+#TODO: - figure out how to edit vehicle_params and moos.bhv for the mission (I think just cat the file so we can see it in the terminal, and we can change it using vim if needed)
+#      - add in the mission_deploy.sh the pAntler timeout command ('timeout 5 <command>' should work -- number is in seconds)
+#      - check with Braden, and Nelson to see if everything else is good to go
+#      - how to implement plot juggler
+#      - see if any other commands need to be added to the tmux script from new map waypoint stuff
\ No newline at end of file
diff --git a/update.sh b/update.sh
index 84f85b1..e094527 100755
--- a/update.sh
+++ b/update.sh
@@ -4,6 +4,20 @@
 # Simply pulls all avaliable updates
 # - Make sure you run this from the root of the top-level repo
 
+function printInfo {
+  echo -e "\033[0m\033[36m[INFO] $1\033[0m"
+}
+
+function printWarning {
+  echo -e "\033[0m\033[33m[WARNING] $1\033[0m"
+}
+
+function printError {
+  echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
+}
+
+printWarning "This script should be run from the root of the CoUGARS directory"
+
 # Docker updates
 docker pull frostlab/cougars:latest
 
@@ -19,5 +33,12 @@ git pull
 cd ../cougars-gpio
 git pull
 
-cd ../cougars-docs
-git pull
+if [ ! "$(uname -m)" == "aarch64" ]; then
+
+  cd ../cougars-docs
+  git pull
+
+  cd ../cougars-base-station
+  git pull
+
+fi