diff --git a/docker/uav_sessions/camera_test_bottom/compose.yaml b/docker/uav_sessions/camera_test_bottom/compose.yaml
index cbc9478..60e4094 100644
--- a/docker/uav_sessions/camera_test_bottom/compose.yaml
+++ b/docker/uav_sessions/camera_test_bottom/compose.yaml
@@ -25,7 +25,7 @@ services:
   # starts roscore
   # this is the first container in the ROS pipeline
   roscore:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_uav_custom_files
@@ -35,7 +35,7 @@ services:
 
   # starts the camera drivers
   cameras:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     volumes:
       - uav_custom_files:/etc/docker/uav_custom_files:consistent
@@ -47,7 +47,7 @@ services:
     command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch throttled_rate:=5.0"
 
   apriltag_bottom:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_shared_data
@@ -59,7 +59,7 @@ services:
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_shared_data
diff --git a/docker/uav_sessions/camera_test_bottom/variables.env b/docker/uav_sessions/camera_test_bottom/variables.env
index e01336b..2626b10 100644
--- a/docker/uav_sessions/camera_test_bottom/variables.env
+++ b/docker/uav_sessions/camera_test_bottom/variables.env
@@ -2,3 +2,4 @@ UAV_NAME=uav80
 ROS_MASTER_URI=http://localhost:11311
 UAV_TYPE=robofly
 UAV_ID=c4750f
+MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/camera_test_front/compose.yaml b/docker/uav_sessions/camera_test_front/compose.yaml
index 8eb3b45..63373fb 100644
--- a/docker/uav_sessions/camera_test_front/compose.yaml
+++ b/docker/uav_sessions/camera_test_front/compose.yaml
@@ -25,7 +25,7 @@ services:
   # starts roscore
   # this is the first container in the ROS pipeline
   roscore:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_uav_custom_files
@@ -35,7 +35,7 @@ services:
 
   # starts the camera drivers
   cameras:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     volumes:
       - uav_custom_files:/etc/docker/uav_custom_files:consistent
@@ -47,7 +47,7 @@ services:
     command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch throttled_rate:=5"
 
   apriltag_front:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_shared_data
@@ -59,7 +59,7 @@ services:
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_shared_data
diff --git a/docker/uav_sessions/camera_test_front/variables.env b/docker/uav_sessions/camera_test_front/variables.env
index e01336b..2626b10 100644
--- a/docker/uav_sessions/camera_test_front/variables.env
+++ b/docker/uav_sessions/camera_test_front/variables.env
@@ -2,3 +2,4 @@ UAV_NAME=uav80
 ROS_MASTER_URI=http://localhost:11311
 UAV_TYPE=robofly
 UAV_ID=c4750f
+MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/gnss/compose.yaml b/docker/uav_sessions/gnss/compose.yaml
index 667d0aa..9bf114a 100644
--- a/docker/uav_sessions/gnss/compose.yaml
+++ b/docker/uav_sessions/gnss/compose.yaml
@@ -10,7 +10,7 @@ services:
 
   # will copy session-specific data shared between containers from the shared_data container to a shared volume
   copy_shared_data:
-    image: fly4future/robofly:shared_data_vio
+    image: fly4future/robofly:shared_data_gnss
     volumes:
       - shared_data:/tmp/docker/shared_data:consistent
     command: sh -c "rm -rvf /tmp/docker/shared_data/*; mkdir -pv /tmp/docker/shared_data; cp -rv /etc/docker/shared_data/* /tmp/docker/shared_data/"
@@ -25,7 +25,7 @@ services:
   # starts roscore
   # this is the first container in the ROS pipeline
   roscore:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_shared_data
@@ -38,7 +38,7 @@ services:
   # -> set a parameter that tells the system that simulation time is NOT used
   # this container then stops
   rostime:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - roscore
@@ -48,7 +48,7 @@ services:
 
   # starts the HW API for connecting the MRS UAV System to PX4
   hw_api:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -62,7 +62,7 @@ services:
 
   # starts the MRS UAV System's core
   uav_core:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -74,7 +74,7 @@ services:
 
   # starts the camera drivers
   cameras:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -90,7 +90,7 @@ services:
 
   # starts the node that handles automatic initialization of the system and takeoff
   automatic_start:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -102,7 +102,7 @@ services:
 
   # starts `rosbag record`
   rosbag:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -115,7 +115,7 @@ services:
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - rostime
diff --git a/docker/uav_sessions/gnss/variables.env b/docker/uav_sessions/gnss/variables.env
index a5c23c5..790e969 100644
--- a/docker/uav_sessions/gnss/variables.env
+++ b/docker/uav_sessions/gnss/variables.env
@@ -4,3 +4,4 @@ UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
 UAV_MASS=0.8
 UAV_ID=c4750f
+MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/sensor_diagnostics/compose.yaml b/docker/uav_sessions/sensor_diagnostics/compose.yaml
index f988fb6..504386f 100644
--- a/docker/uav_sessions/sensor_diagnostics/compose.yaml
+++ b/docker/uav_sessions/sensor_diagnostics/compose.yaml
@@ -16,7 +16,7 @@ services:
   # starts roscore
   # this is the first container in the ROS pipeline
   roscore:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_uav_custom_files
@@ -26,7 +26,7 @@ services:
 
   # starts the HW API for connecting the MRS UAV System to PX4
   hw_api:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     volumes:
       - /dev/:/dev/
@@ -37,7 +37,7 @@ services:
 
   # starts the camera drivers
   cameras:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     volumes:
       - uav_custom_files:/etc/docker/uav_custom_files:consistent
@@ -50,7 +50,7 @@ services:
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_uav_custom_files
diff --git a/docker/uav_sessions/sensor_diagnostics/variables.env b/docker/uav_sessions/sensor_diagnostics/variables.env
index a5c23c5..790e969 100644
--- a/docker/uav_sessions/sensor_diagnostics/variables.env
+++ b/docker/uav_sessions/sensor_diagnostics/variables.env
@@ -4,3 +4,4 @@ UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
 UAV_MASS=0.8
 UAV_ID=c4750f
+MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/user_session/compose.yaml b/docker/uav_sessions/user_session/compose.yaml
index 6d54647..481ad01 100644
--- a/docker/uav_sessions/user_session/compose.yaml
+++ b/docker/uav_sessions/user_session/compose.yaml
@@ -13,7 +13,7 @@ services:
 
   # starts the HW API for connecting the MRS UAV System to PX4
   custom_package:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_catkin_workspace
@@ -25,7 +25,7 @@ services:
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_catkin_workspace
diff --git a/docker/uav_sessions/user_session/variables.env b/docker/uav_sessions/user_session/variables.env
index f9b9bc6..02b0a31 100644
--- a/docker/uav_sessions/user_session/variables.env
+++ b/docker/uav_sessions/user_session/variables.env
@@ -1,2 +1,3 @@
 UAV_NAME=uav80
 ROS_MASTER_URI=http://localhost:11311
+MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/vio/compose.yaml b/docker/uav_sessions/vio/compose.yaml
index 8b42064..6bffca9 100644
--- a/docker/uav_sessions/vio/compose.yaml
+++ b/docker/uav_sessions/vio/compose.yaml
@@ -25,7 +25,7 @@ services:
   # starts roscore
   # this is the first container in the ROS pipeline
   roscore:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - copy_shared_data
@@ -38,7 +38,7 @@ services:
   # -> set a parameter that tells the system that simulation time is NOT used
   # this container then stops
   rostime:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - roscore
@@ -48,7 +48,7 @@ services:
 
   # starts the HW API for connecting the MRS UAV System to PX4
   hw_api:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -62,7 +62,7 @@ services:
 
   # starts the open_vins visual inertial odometry
   open_vins:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -75,7 +75,7 @@ services:
 
   # starts the MRS UAV System's core
   uav_core:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -87,7 +87,7 @@ services:
 
   # starts the camera drivers
   cameras:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -103,7 +103,7 @@ services:
 
   # starts the node that handles automatic initialization of the system and takeoff
   automatic_start:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -115,7 +115,7 @@ services:
 
   # starts `rosbag record`
   rosbag:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     depends_on:
       - rostime
     network_mode: host
@@ -128,7 +128,7 @@ services:
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
-    image: ctumrs/mrs_uav_system:robofly
+    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
     network_mode: host
     depends_on:
       - rostime
diff --git a/docker/uav_sessions/vio/variables.env b/docker/uav_sessions/vio/variables.env
index a5c23c5..790e969 100644
--- a/docker/uav_sessions/vio/variables.env
+++ b/docker/uav_sessions/vio/variables.env
@@ -4,3 +4,4 @@ UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
 UAV_MASS=0.8
 UAV_ID=c4750f
+MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/user_workspace/Dockerfile b/docker/user_workspace/Dockerfile
index 1c75d64..28b5493 100644
--- a/docker/user_workspace/Dockerfile
+++ b/docker/user_workspace/Dockerfile
@@ -1,5 +1,5 @@
 ARG WORKSPACE_PATH
-ARG BASE_IMAGE=ctumrs/mrs_uav_system:robofly
+ARG BASE_IMAGE=ctumrs/mrs_uav_system:1.5.0
 
 #############################################################################