diff --git a/build.gradle b/build.gradle
index e058cc85..228c760e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,11 +1,3 @@
-buildscript {
-   repositories {
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-      jcenter()
-   }
-   dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
-   }
+plugins {
+   id("us.ihmc.ihmc-build") version "0.15.5"
 }
-apply plugin: "us.ihmc.ihmc-build"
diff --git a/group.gradle.properties b/group.gradle.properties
index 42816ecd..0ed0014d 100644
--- a/group.gradle.properties
+++ b/group.gradle.properties
@@ -1,5 +1,5 @@
 group = us.ihmc
-version = 0.13.0
+version = 0.13.1
 vcsUrl = https://github.com/ihmcrobotics/ihmc-java-ros2-communication
 openSource = true
 maintainer = "Duncan Calvert (dcalvert@ihmc.us)"
diff --git a/ihmc-ros2-library/build.gradle b/ihmc-ros2-library/build.gradle
index b9208dee..0fa841d7 100644
--- a/ihmc-ros2-library/build.gradle
+++ b/ihmc-ros2-library/build.gradle
@@ -1,17 +1,8 @@
-buildscript {
-   repositories {
-      mavenCentral()
-      maven { url "http://dl.bintray.com/ihmcrobotics/maven-release" }
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-   }
-   dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
-   }
+plugins {
+   id("us.ihmc.ihmc-build") version "0.15.5"
+   id("us.ihmc.ihmc-ci") version "3.4"
 }
 
-apply plugin: "us.ihmc.ihmc-build"
-
 ihmc {
    loadProductProperties("../group.gradle.properties")
 
@@ -20,9 +11,9 @@ ihmc {
 }
 
 mainDependencies {
-   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.10.0"
+   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.10.1"
    compile group: "us.ihmc", name: "IHMCRealtime", version: "1.1.8"
-   compile group: "us.ihmc", name: "ihmc-commons", version: "0.24.0"
+   compile group: "us.ihmc", name: "ihmc-commons", version: "0.25.0"
 }
 
 testDependencies {
diff --git a/ihmc-ros2-library/settings.gradle b/ihmc-ros2-library/settings.gradle
index 2a23f9a2..a3a99d2e 100644
--- a/ihmc-ros2-library/settings.gradle
+++ b/ihmc-ros2-library/settings.gradle
@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
+      classpath "us.ihmc:ihmc-build:0.15.5"
    }
 }
  
diff --git a/ihmc-ros2-library/src/test/java/us/ihmc/robotics/Assert.java b/ihmc-ros2-library/src/test/java/us/ihmc/robotics/Assert.java
new file mode 100644
index 00000000..4f64d6de
--- /dev/null
+++ b/ihmc-ros2-library/src/test/java/us/ihmc/robotics/Assert.java
@@ -0,0 +1,175 @@
+package us.ihmc.robotics;
+
+public class Assert
+{
+   static public void assertTrue(String message, boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertTrue(condition, message);
+   }
+
+   static public void assertTrue(boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertTrue(condition);
+   }
+
+   static public void assertFalse(String message, boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertFalse(condition, message);
+   }
+
+   static public void assertFalse(boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertFalse(condition);
+   }
+
+   static public void fail(String message)
+   {
+      org.junit.jupiter.api.Assertions.fail(message);
+   }
+
+   static public void fail()
+   {
+      org.junit.jupiter.api.Assertions.fail();
+   }
+
+   static public void assertEquals(String message, Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+   }
+
+   static public void assertEquals(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+   }
+
+   static public void assertNotEquals(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(expected, actual);
+   }
+
+   static public void assertNotEquals(long first, long second)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second);
+   }
+
+   static public void assertNotEquals(String message, double first, double second, double delta)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second, message);
+   }
+
+   static public void assertNotEquals(double first, double second, double delta)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second);
+   }
+
+   public static void assertArrayEquals(Object[] expecteds, Object[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(int[] expecteds, int[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(byte[] expecteds, byte[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(double[] expecteds, double[] actuals, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals, delta);
+   }
+
+   public static void assertArrayEquals(float[] expecteds, float[] actuals, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals, delta);
+   }
+
+   public static void assertArrayEquals(String string, double[] data, double[] ds, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(data, ds, string);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(data, ds, delta, string);
+   }
+
+   static public void assertEquals(String message, double expected, double actual, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta, message);
+   }
+
+   static public void assertEquals(String message, float expected, float actual, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta, message);
+   }
+
+   static public void assertEquals(long expected, long actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+   }
+
+   static public void assertEquals(String message, long expected, long actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+   }
+
+   static public void assertEquals(double expected, double actual, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta);
+   }
+
+   static public void assertEquals(float expected, float actual, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta);
+   }
+
+   static public void assertNotNull(String message, Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNotNull(object, message);
+   }
+
+   static public void assertNotNull(Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNotNull(object);
+   }
+
+   static public void assertNull(String message, Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNull(object, message);
+   }
+
+   static public void assertNull(Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNull(object);
+   }
+
+   static public void assertSame(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertSame(expected, actual);
+   }
+
+   static public void assertNotSame(Object unexpected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertNotSame(unexpected, actual);
+   }
+}
diff --git a/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/CommunicationTest.java b/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/CommunicationTest.java
index ca7318b6..206771da 100644
--- a/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/CommunicationTest.java
+++ b/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/CommunicationTest.java
@@ -2,7 +2,7 @@
 
 import org.apache.commons.lang3.tuple.MutablePair;
 import org.apache.commons.lang3.tuple.Pair;
-import org.junit.Test;
+import org.junit.jupiter.api.Test;
 import ros_msgs.msg.dds.TwoNum;
 import ros_msgs.msg.dds.TwoNumPubSubType;
 import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
@@ -11,25 +11,25 @@
 
 public class CommunicationTest
 {
-   @Test(timeout = 5000)
+   @Test// timeout = 5000
    public void testSimpleIntraProcessCommunication()
    {
       testSimpleCommunication(PubSubImplementation.INTRAPROCESS, null);
    }
 
-   @Test(timeout = 5000)
+   @Test// timeout = 5000
    public void testSimpleRealRTPSCommunicationDefaultRosVersion()
    {
       testSimpleCommunication(PubSubImplementation.FAST_RTPS, null);
    }
 
-   @Test(timeout = 5000)
+   @Test// timeout = 5000
    public void testSimpleRealRTPSCommunicationArdent()
    {
       testSimpleCommunication(PubSubImplementation.FAST_RTPS, Ros2Distro.ARDENT);
    }
 
-   @Test(timeout = 5000)
+   @Test// timeout = 5000
    public void testSimpleRealRTPSCommunicationBouncy()
    {
       testSimpleCommunication(PubSubImplementation.FAST_RTPS, Ros2Distro.BOUNCY);
@@ -75,7 +75,7 @@ private void testSimpleCommunication(PubSubImplementation pubSubImplementation,
          Thread.yield();
    }
 
-   @Test(timeout = 5000)
+   @Test// timeout = 5000
    public void testSimpleRealRTPSCommunicationAndDestroy()
    {
       Pair<Integer, Integer> messagesReceived = new MutablePair<>();
@@ -117,7 +117,7 @@ public void testSimpleRealRTPSCommunicationAndDestroy()
          Thread.yield();
    }
 
-   @Test(timeout = 5000)
+   @Test// timeout = 5000
    public void testSimpleIntraProcessCommunicationRealtime()
    {
       Pair<Integer, Integer> messagesReceived = new MutablePair<>();
diff --git a/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/DataTypesTest.java b/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/DataTypesTest.java
index 4a5bd6a8..af0d844d 100644
--- a/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/DataTypesTest.java
+++ b/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/DataTypesTest.java
@@ -2,7 +2,7 @@
 
 import org.apache.commons.lang3.tuple.MutablePair;
 import org.apache.commons.lang3.tuple.Pair;
-import org.junit.Test;
+import org.junit.jupiter.api.Test;
 import ros_msgs.msg.dds.Num;
 import ros_msgs.msg.dds.NumPubSubType;
 import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
@@ -10,11 +10,11 @@
 import us.ihmc.ros2.Ros2Node;
 import us.ihmc.ros2.Ros2Publisher;
 
-import static org.junit.Assert.*;
+import static us.ihmc.robotics.Assert.*;
 
 public class DataTypesTest
 {
-   @Test(timeout = 30000)
+   @Test// timeout = 30000
    public void testAllDoubleValuesGetAcross()
    {
       Pair<Integer, Integer> messagesReceived = new MutablePair<>();
diff --git a/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/RealtimeRos2IntraprocessCopyTest.java b/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/RealtimeRos2IntraprocessCopyTest.java
index f3aa9d6b..a74dc437 100644
--- a/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/RealtimeRos2IntraprocessCopyTest.java
+++ b/ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/RealtimeRos2IntraprocessCopyTest.java
@@ -16,7 +16,7 @@
 package us.ihmc.ros2.example;
 
 import org.apache.commons.lang3.SystemUtils;
-import org.junit.Test;
+import org.junit.jupiter.api.Test;
 import ros_msgs.msg.dds.BigNumSequence;
 import ros_msgs.msg.dds.BigNumSequencePubSubType;
 import ros_msgs.msg.dds.Num;
@@ -44,7 +44,7 @@ public class RealtimeRos2IntraprocessCopyTest
 {
    public static final int NUMBER_OF_MESSAGES_TO_SEND = 20;
 
-   @Test(timeout = 300000)
+   @Test// timeout = 300000
    public void testIntraprocessCopy() throws IOException, InterruptedException
    {
       Random random = new Random(892141240123L);
diff --git a/ros2-common-interfaces/build.gradle b/ros2-common-interfaces/build.gradle
index e8afcdac..436c25eb 100644
--- a/ros2-common-interfaces/build.gradle
+++ b/ros2-common-interfaces/build.gradle
@@ -8,12 +8,16 @@ buildscript {
       jcenter()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
       classpath "us.ihmc:ros2-msg-to-pubsub-generator:0.13.0"
       classpath "org.ajoberstar:grgit:2.1.0"
    }
 }
-apply plugin: "us.ihmc.ihmc-build"
+
+plugins {
+   id("us.ihmc.ihmc-build") version "0.15.5"
+   id("us.ihmc.ihmc-ci") version "3.4"
+}
+
 apply plugin: "org.ajoberstar.grgit"
 
 def rclInterfacesPath = "src/main/vendor/rcl_interfaces"
@@ -38,8 +42,8 @@ ihmc {
 }
 
 mainDependencies {
-   compile group: "us.ihmc", name: "euclid", version: "0.9.3"
-   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.10.0"
+   compile group: "us.ihmc", name: "euclid-geometry", version: "0.11.0"
+   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.10.1"
 }
 
 generatorDependencies {
diff --git a/ros2-common-interfaces/settings.gradle b/ros2-common-interfaces/settings.gradle
index 65f7b731..c448d04c 100644
--- a/ros2-common-interfaces/settings.gradle
+++ b/ros2-common-interfaces/settings.gradle
@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
+      classpath "us.ihmc:ihmc-build:0.15.5"
    }
 }
 
diff --git a/ros2-msg-to-idl-generator/build.gradle b/ros2-msg-to-idl-generator/build.gradle
index 5b0f873d..f1827a2c 100644
--- a/ros2-msg-to-idl-generator/build.gradle
+++ b/ros2-msg-to-idl-generator/build.gradle
@@ -1,13 +1,8 @@
-buildscript {
-   repositories {
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-   }
-   dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
-   }
+plugins {
+   id("us.ihmc.ihmc-build") version "0.15.5"
+   id("us.ihmc.ihmc-ci") version "3.4"
 }
-apply plugin: "us.ihmc.ihmc-build"
+
 apply plugin: "application"
 
 ihmc {
diff --git a/ros2-msg-to-idl-generator/settings.gradle b/ros2-msg-to-idl-generator/settings.gradle
index 2a23f9a2..a3a99d2e 100644
--- a/ros2-msg-to-idl-generator/settings.gradle
+++ b/ros2-msg-to-idl-generator/settings.gradle
@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
+      classpath "us.ihmc:ihmc-build:0.15.5"
    }
 }
  
diff --git a/ros2-msg-to-idl-generator/src/test/java/us/ihmc/robotics/Assert.java b/ros2-msg-to-idl-generator/src/test/java/us/ihmc/robotics/Assert.java
new file mode 100644
index 00000000..4f64d6de
--- /dev/null
+++ b/ros2-msg-to-idl-generator/src/test/java/us/ihmc/robotics/Assert.java
@@ -0,0 +1,175 @@
+package us.ihmc.robotics;
+
+public class Assert
+{
+   static public void assertTrue(String message, boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertTrue(condition, message);
+   }
+
+   static public void assertTrue(boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertTrue(condition);
+   }
+
+   static public void assertFalse(String message, boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertFalse(condition, message);
+   }
+
+   static public void assertFalse(boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertFalse(condition);
+   }
+
+   static public void fail(String message)
+   {
+      org.junit.jupiter.api.Assertions.fail(message);
+   }
+
+   static public void fail()
+   {
+      org.junit.jupiter.api.Assertions.fail();
+   }
+
+   static public void assertEquals(String message, Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+   }
+
+   static public void assertEquals(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+   }
+
+   static public void assertNotEquals(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(expected, actual);
+   }
+
+   static public void assertNotEquals(long first, long second)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second);
+   }
+
+   static public void assertNotEquals(String message, double first, double second, double delta)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second, message);
+   }
+
+   static public void assertNotEquals(double first, double second, double delta)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second);
+   }
+
+   public static void assertArrayEquals(Object[] expecteds, Object[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(int[] expecteds, int[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(byte[] expecteds, byte[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(double[] expecteds, double[] actuals, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals, delta);
+   }
+
+   public static void assertArrayEquals(float[] expecteds, float[] actuals, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals, delta);
+   }
+
+   public static void assertArrayEquals(String string, double[] data, double[] ds, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(data, ds, string);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(data, ds, delta, string);
+   }
+
+   static public void assertEquals(String message, double expected, double actual, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta, message);
+   }
+
+   static public void assertEquals(String message, float expected, float actual, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta, message);
+   }
+
+   static public void assertEquals(long expected, long actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+   }
+
+   static public void assertEquals(String message, long expected, long actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+   }
+
+   static public void assertEquals(double expected, double actual, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta);
+   }
+
+   static public void assertEquals(float expected, float actual, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta);
+   }
+
+   static public void assertNotNull(String message, Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNotNull(object, message);
+   }
+
+   static public void assertNotNull(Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNotNull(object);
+   }
+
+   static public void assertNull(String message, Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNull(object, message);
+   }
+
+   static public void assertNull(Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNull(object);
+   }
+
+   static public void assertSame(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertSame(expected, actual);
+   }
+
+   static public void assertNotSame(Object unexpected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertNotSame(unexpected, actual);
+   }
+}
diff --git a/ros2-msg-to-pubsub-generator/build.gradle b/ros2-msg-to-pubsub-generator/build.gradle
index be81f479..354149bf 100644
--- a/ros2-msg-to-pubsub-generator/build.gradle
+++ b/ros2-msg-to-pubsub-generator/build.gradle
@@ -1,14 +1,7 @@
-buildscript {
-   repositories {
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-   }
-   dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
-   }
+plugins {
+   id("us.ihmc.ihmc-build") version "0.15.5"
+   id("us.ihmc.ihmc-ci") version "3.4"
 }
-apply plugin: "us.ihmc.ihmc-build"
-//apply plugin: "application"
 
 ihmc {
    loadProductProperties("../group.gradle.properties")
@@ -23,7 +16,7 @@ ihmc {
    configurePublications()
 }
 
-def pubsubVersion = "0.10.0"
+def pubsubVersion = "0.10.1"
 def pubsub = "us.ihmc:ihmc-pub-sub:$pubsubVersion"
 def pubsubGen = "us.ihmc:ihmc-pub-sub-generator:$pubsubVersion"
 def ros2IdlGen = "us.ihmc:ros2-msg-to-idl-generator:$version"
@@ -36,12 +29,5 @@ mainDependencies {
 
 testDependencies {
    compile pubsub
+   compile "us.ihmc:ihmc-commons:0.25.0"
 }
-
-task show() {
-   doLast {
-      project.gradle.includedBuilds.each { println it }
-      buildscript.configurations.classpath.each { println "Buildscript: " + it }
-      configurations.compile.each { println "Compile: " + it }
-   }
-}
\ No newline at end of file
diff --git a/ros2-msg-to-pubsub-generator/settings.gradle b/ros2-msg-to-pubsub-generator/settings.gradle
index 2a23f9a2..a3a99d2e 100644
--- a/ros2-msg-to-pubsub-generator/settings.gradle
+++ b/ros2-msg-to-pubsub-generator/settings.gradle
@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
+      classpath "us.ihmc:ihmc-build:0.15.5"
    }
 }
  
diff --git a/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/MessageGenerationTest.java b/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/MessageGenerationTest.java
index 6ad6dbe2..e9f452e1 100644
--- a/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/MessageGenerationTest.java
+++ b/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/MessageGenerationTest.java
@@ -1,6 +1,7 @@
 package us.ihmc;
 
-import org.junit.Test;
+import org.junit.jupiter.api.Test;
+import us.ihmc.log.LogTools;
 import us.ihmc.commons.nio.FileTools;
 import us.ihmc.ros2.rosidl.RosInterfaceGenerator;
 
@@ -10,11 +11,12 @@
 
 public class MessageGenerationTest
 {
-   @Test(timeout = 30000)
+   @Test// timeout = 30000
    public void testMessageGeneration() throws IOException
    {
       Path startingPath;
-      startingPath = Paths.get("ros2-msg-to-pubsub-generator/src/test");
+      LogTools.info("Working dir: " + Paths.get(".").toAbsolutePath());
+      startingPath = Paths.get(".");
 
       FileTools.deleteQuietly(startingPath.resolve("generated-java"));
       FileTools.deleteQuietly(startingPath.resolve("generated-idl"));
diff --git a/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/robotics/Assert.java b/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/robotics/Assert.java
new file mode 100644
index 00000000..4f64d6de
--- /dev/null
+++ b/ros2-msg-to-pubsub-generator/src/test/java/us/ihmc/robotics/Assert.java
@@ -0,0 +1,175 @@
+package us.ihmc.robotics;
+
+public class Assert
+{
+   static public void assertTrue(String message, boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertTrue(condition, message);
+   }
+
+   static public void assertTrue(boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertTrue(condition);
+   }
+
+   static public void assertFalse(String message, boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertFalse(condition, message);
+   }
+
+   static public void assertFalse(boolean condition)
+   {
+      org.junit.jupiter.api.Assertions.assertFalse(condition);
+   }
+
+   static public void fail(String message)
+   {
+      org.junit.jupiter.api.Assertions.fail(message);
+   }
+
+   static public void fail()
+   {
+      org.junit.jupiter.api.Assertions.fail();
+   }
+
+   static public void assertEquals(String message, Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+   }
+
+   static public void assertEquals(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+   }
+
+   static public void assertNotEquals(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(expected, actual);
+   }
+
+   static public void assertNotEquals(long first, long second)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second);
+   }
+
+   static public void assertNotEquals(String message, double first, double second, double delta)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second, message);
+   }
+
+   static public void assertNotEquals(double first, double second, double delta)
+   {
+      org.junit.jupiter.api.Assertions.assertNotEquals(first, second);
+   }
+
+   public static void assertArrayEquals(Object[] expecteds, Object[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(int[] expecteds, int[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(byte[] expecteds, byte[] actuals)
+   {
+      org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+   }
+
+   public static void assertArrayEquals(double[] expecteds, double[] actuals, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals, delta);
+   }
+
+   public static void assertArrayEquals(float[] expecteds, float[] actuals, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(expecteds, actuals, delta);
+   }
+
+   public static void assertArrayEquals(String string, double[] data, double[] ds, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertArrayEquals(data, ds, string);
+      else
+         org.junit.jupiter.api.Assertions.assertArrayEquals(data, ds, delta, string);
+   }
+
+   static public void assertEquals(String message, double expected, double actual, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta, message);
+   }
+
+   static public void assertEquals(String message, float expected, float actual, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta, message);
+   }
+
+   static public void assertEquals(long expected, long actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+   }
+
+   static public void assertEquals(String message, long expected, long actual)
+   {
+      org.junit.jupiter.api.Assertions.assertEquals(expected, actual, message);
+   }
+
+   static public void assertEquals(double expected, double actual, double delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta);
+   }
+
+   static public void assertEquals(float expected, float actual, float delta)
+   {
+      if (delta == 0.0)
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual);
+      else
+         org.junit.jupiter.api.Assertions.assertEquals(expected, actual, delta);
+   }
+
+   static public void assertNotNull(String message, Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNotNull(object, message);
+   }
+
+   static public void assertNotNull(Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNotNull(object);
+   }
+
+   static public void assertNull(String message, Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNull(object, message);
+   }
+
+   static public void assertNull(Object object)
+   {
+      org.junit.jupiter.api.Assertions.assertNull(object);
+   }
+
+   static public void assertSame(Object expected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertSame(expected, actual);
+   }
+
+   static public void assertNotSame(Object unexpected, Object actual)
+   {
+      org.junit.jupiter.api.Assertions.assertNotSame(unexpected, actual);
+   }
+}
diff --git a/settings.gradle b/settings.gradle
index 60228e05..6ba1b114 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
+      classpath "us.ihmc:ihmc-build:0.15.5"
    }
 }