diff --git a/.forgejo/workflows/package.yaml b/.forgejo/workflows/package.yaml
deleted file mode 100644
index b090971..0000000
--- a/.forgejo/workflows/package.yaml
+++ /dev/null
@@ -1,76 +0,0 @@
----
-name: Package
-
-on:
-  push:
-    tags:
-      - "*"
-
-jobs:
-  package:
-    strategy:
-      matrix:
-        platform:
-          - dpkg: arm64
-            runs-on: debian-12-arm64
-
-    runs-on: debian-12-arm64
-
-    steps:
-      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
-        with:
-          fetch-depth: 0
-
-      - name: Install dependencies
-        run: |
-          apt update
-          apt install -y \
-            build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
-
-      - uses: actions/checkout@v4
-
-      - name: configure
-        run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DCPACK_DEBIAN_PACKAGE_RELEASE=compair1
-
-      - name: build
-        run: cmake --build build --config Release -j2
-
-      - name: test
-        working-directory: build
-        run: ctest -C Release
-
-      - name: build deb
-        working-directory: build
-        run: cpack --build . -G DEB
-
-      - name: get tag
-        run: |
-          echo "TAG=$(git describe --abbrev=0 --tags)-compair1" >>$GITHUB_ENV
-
-      # https://forgejo.org/docs/latest/user/packages/debian/#publish-a-package
-      - name: push deb to apt repository
-        env:
-          REPO: ${{ github.repository }}
-        run: |
-          url="${GITHUB_SERVER_URL}/api/packages/${{ github.repository_owner }}/debian/pool/bookworm/compair/upload"
-          urlBotball="${GITHUB_SERVER_URL}/api/packages/Botball/debian/pool/bookworm/wombatos/upload"
-
-          echo "api url: $url"
-          debfile="_packages/libcreate_${TAG}_${{ matrix.platform.dpkg }}.deb"
-
-          echo "uploading file: $debfile"
-          curl --fail-with-body \
-            -X PUT \
-            --user "oauth2:${{ secrets.PACKAGE_REGISTRY_TOKEN }}" \
-            --upload-file "$debfile" \
-            "$url"
-
-          echo "uploading file for WombatOs: $debfile"
-          curl --fail-with-body \
-            -X PUT \
-            --user "oauth2:${{ secrets.PACKAGE_REGISTRY_TOKEN }}" \
-            --upload-file "$debfile" \
-            "$urlBotball"
-
-          echo "final url: ${GITHUB_SERVER_URL}/${{ github.repository_owner }}/-/packages/debian/libcreate/${TAG}"
-          echo "final url for Botball: ${GITHUB_SERVER_URL}/Botball/-/packages/debian/libcreate/${TAG}"
diff --git a/.forgejo/workflows/test.yaml b/.forgejo/workflows/test.yaml
deleted file mode 100644
index 2b55f1a..0000000
--- a/.forgejo/workflows/test.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
----
-name: Build and test
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-
-env:
-  BUILD_TYPE: Release
-
-jobs:
-  test:
-    runs-on: debian-12
-
-    steps:
-      - name: Install dependencies
-        run: |
-          apt update
-          apt install -y \
-            build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
-
-      - uses: actions/checkout@v4
-
-      - name: Configure CMake
-        run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}
-
-      - name: Build
-        run: cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }}
-
-      - name: Test
-        working-directory: ${{ github.workspace }}/build
-        run: ctest -C ${{ env.BUILD_TYPE }}
diff --git a/.github/workflows/package.yaml b/.github/workflows/package.yaml
new file mode 100644
index 0000000..113c7bb
--- /dev/null
+++ b/.github/workflows/package.yaml
@@ -0,0 +1,41 @@
+name: Package
+
+on:
+  push:
+    tags:
+      - "*"
+
+jobs:
+  package:
+    runs-on: ubuntu-24.04
+    strategy:
+      matrix:
+        platform: [linux/arm64/v8]
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          platforms: linux/arm64
+
+      - name: Prepare container
+        run: docker buildx build -f ci/Dockerfile . -t libcreate --platform ${{ matrix.platform }} --load
+      - name: Build
+        run: docker run --platform ${{ matrix.platform }} -v ./output:/libcreate/_packages libcreate
+      - name: Push deb to compREP
+        uses: cpina/github-action-push-to-another-repository@main
+        env:
+          SSH_DEPLOY_KEY: ${{ secrets.SSH_DEPLOY_KEY }}
+        with:
+          source-directory: "output/"
+          target-directory: "debs/complib/"
+          destination-github-username: "F-WuTS"
+          destination-repository-name: "compREP"
+          target-branch: master
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
new file mode 100644
index 0000000..986dc29
--- /dev/null
+++ b/.github/workflows/test.yaml
@@ -0,0 +1,30 @@
+name: Build and test
+
+on:
+  push:
+    branches: ["master"]
+  pull_request:
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  test:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Install dependencies
+        run: |
+          sudo apt install build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
+
+      - uses: actions/checkout@v4
+
+      - name: Configure CMake
+        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_CXX_FLAGS="-Werror"
+
+      - name: Build
+        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        run: ctest -C ${{env.BUILD_TYPE}}
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 28408a6..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-# CMake/CPack
-build/
-_packages/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e39cf16..007b56b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,7 +24,7 @@ project(
   VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH}
 )
 
-add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+add_compile_options(-Wall -Wextra -Wpedantic)
 
 set(PACKAGE_VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH})
 
diff --git a/README.md b/README.md
index b1eb336..fa1232c 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@ C++ library for interfacing with iRobot's Create 1 and 2 as well as most models
   - [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k/view?usp=sharing&resourcekey=0-KxMpRPBMsGAj7eSYC_9ewA) (Roomba 400 series )
   - [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U/view?usp=sharing&resourcekey=0-bqKH8xhtWdYtTik_LLWo9Q) (Create 1, Roomba 500 series)
   - [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c/view?usp=sharing&resourcekey=0-rKvug2IzC7nj4zV31EJtww) (Create 2, Roomba 600-800 series)
-* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](https://autonomy.cs.sfu.ca), [Simon Fraser University](http://www.sfu.ca))
+* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
 * Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98), [Josh Gadeken](https://github.com/process1183)
 
 ## Build Status ##
diff --git a/ci/Dockerfile b/ci/Dockerfile
new file mode 100644
index 0000000..3274bbe
--- /dev/null
+++ b/ci/Dockerfile
@@ -0,0 +1,14 @@
+FROM debian:bookworm
+
+RUN apt update && \
+    apt install -y \
+        build-essential cmake git file \
+        libboost-system-dev libboost-thread-dev \
+        libgtest-dev googletest && \
+    rm -rf /var/lib/apt/lists/*
+
+WORKDIR /libcreate
+COPY . .
+
+WORKDIR /libcreate/build
+ENTRYPOINT ["/bin/bash", "/libcreate/ci/entrypoint.sh"] 
diff --git a/ci/entrypoint.sh b/ci/entrypoint.sh
new file mode 100755
index 0000000..c371918
--- /dev/null
+++ b/ci/entrypoint.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+set -o errexit
+set -o nounset
+set -o pipefail
+
+cmake -B /libcreate/build -S /libcreate -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS='-Werror'
+cmake --build /libcreate/build --config Release
+ctest -C Release --output-on-failure
+cpack --build /libcreate/build -G DEB
\ No newline at end of file
diff --git a/cmake/Packing.cmake b/cmake/Packing.cmake
index 58d81b8..53291fd 100644
--- a/cmake/Packing.cmake
+++ b/cmake/Packing.cmake
@@ -13,6 +13,9 @@ set(CPACK_VERBATIM_VARIABLES YES)
 set(CPACK_PACKAGE_INSTALL_DIRECTORY ${CPACK_PACKAGE_NAME})
 SET(CPACK_OUTPUT_FILE_PREFIX "${CMAKE_SOURCE_DIR}/_packages")
 
+# https://unix.stackexchange.com/a/11552/254512
+set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/${CPACK_PACKAGE_NAME}")
+
 set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
 set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
 set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
@@ -38,4 +41,6 @@ set(
 # you'll get some-application_0.9.2_amd64.deb (note the underscores too)
 set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
 
+message(STATUS "Components to pack: ${CPACK_COMPONENTS_ALL}")
+
 include(CPack)
\ No newline at end of file
diff --git a/cmake/Versioning.cmake b/cmake/Versioning.cmake
index d659c5c..7665011 100644
--- a/cmake/Versioning.cmake
+++ b/cmake/Versioning.cmake
@@ -8,7 +8,7 @@ if(GIT_EXECUTABLE)
         OUTPUT_STRIP_TRAILING_WHITESPACE
     )
 
-    if(DEFINED ENV{GITHUB_REF} AND ENV{GITHUB_REF_TYPE} EQUAL "tag")
+    if(DEFINED ENV{GITHUB_REF})
         set(TAG_VERSION $ENV{GITHUB_REF})
         message(STATUS "Extracted version from GITHUB_REF")
     endif()
diff --git a/output/libcreate_3.1.4_arm64.deb b/output/libcreate_3.1.4_arm64.deb
new file mode 100644
index 0000000..d9c0cfb
Binary files /dev/null and b/output/libcreate_3.1.4_arm64.deb differ
diff --git a/package.sh b/package.sh
new file mode 100755
index 0000000..e69de29