diff --git a/.gitignore b/.gitignore
index b7b0ea4..5a10ce7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -157,4 +157,8 @@ cython_debug/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
\ No newline at end of file
+#.idea/
+
+# ROS
+/install
+/log
diff --git a/fogros2/.flake8 b/fogros2/.flake8
new file mode 100644
index 0000000..63cfd5c
--- /dev/null
+++ b/fogros2/.flake8
@@ -0,0 +1,3 @@
+[flake8]
+max-line-length = 88
+extend-ignore = E203, E501
diff --git a/fogros2/package.xml b/fogros2/package.xml
index 18a7b0b..8e61069 100755
--- a/fogros2/package.xml
+++ b/fogros2/package.xml
@@ -11,6 +11,7 @@
   <maintainer email="kych@berkeley.edu">Kaiyuan (Eric) Chen</maintainer>
   <maintainer email="kdharmarajan@berkeley.edu">Karthik Dharmarajan</maintainer>
   <maintainer email="simeon.adebola@berkeley.edu">Simeon Adebola</maintainer>
+  <maintainer email="nikhiljha@berkeley.edu">Nikhil Jha</maintainer>
   <author email="jeffi@berkeley.edu">Jeff Ichnowski</author>
   <author email="kych@berkeley.edu">Kaiyuan (Eric) Chen</author>
   <author email="kdharmarajan@berkeley.edu">Karthik Dharmarajan</author>
diff --git a/fogros2/poetry.lock b/fogros2/poetry.lock
new file mode 100644
index 0000000..1d7ea98
--- /dev/null
+++ b/fogros2/poetry.lock
@@ -0,0 +1,1296 @@
+[[package]]
+name = "atomicwrites"
+version = "1.4.0"
+description = "Atomic file writes."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "attrs"
+version = "21.4.0"
+description = "Classes Without Boilerplate"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[package.extras]
+dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
+docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
+tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+
+[[package]]
+name = "bcrypt"
+version = "3.2.2"
+description = "Modern password hashing for your software and your servers"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+cffi = ">=1.1"
+
+[package.extras]
+tests = ["pytest (>=3.2.1,!=3.3.0)"]
+typecheck = ["mypy"]
+
+[[package]]
+name = "black"
+version = "22.3.0"
+description = "The uncompromising code formatter."
+category = "dev"
+optional = false
+python-versions = ">=3.6.2"
+
+[package.dependencies]
+click = ">=8.0.0"
+mypy-extensions = ">=0.4.3"
+pathspec = ">=0.9.0"
+platformdirs = ">=2"
+tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
+typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
+
+[package.extras]
+colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+uvloop = ["uvloop (>=0.15.2)"]
+
+[[package]]
+name = "boto3"
+version = "1.24.7"
+description = "The AWS SDK for Python"
+category = "main"
+optional = false
+python-versions = ">= 3.7"
+
+[package.dependencies]
+botocore = ">=1.27.7,<1.28.0"
+jmespath = ">=0.7.1,<2.0.0"
+s3transfer = ">=0.6.0,<0.7.0"
+
+[package.extras]
+crt = ["botocore[crt] (>=1.21.0,<2.0a0)"]
+
+[[package]]
+name = "boto3-stubs"
+version = "1.24.7"
+description = "Type annotations for boto3 1.24.7 generated with mypy-boto3-builder 7.6.1"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+botocore-stubs = "*"
+typing-extensions = ">=4.1.0"
+
+[package.extras]
+accessanalyzer = ["mypy-boto3-accessanalyzer (>=1.24.0,<1.25.0)"]
+account = ["mypy-boto3-account (>=1.24.0,<1.25.0)"]
+acm = ["mypy-boto3-acm (>=1.24.0,<1.25.0)"]
+acm-pca = ["mypy-boto3-acm-pca (>=1.24.0,<1.25.0)"]
+alexaforbusiness = ["mypy-boto3-alexaforbusiness (>=1.24.0,<1.25.0)"]
+all = ["mypy-boto3-accessanalyzer (>=1.24.0,<1.25.0)", "mypy-boto3-account (>=1.24.0,<1.25.0)", "mypy-boto3-acm (>=1.24.0,<1.25.0)", "mypy-boto3-acm-pca (>=1.24.0,<1.25.0)", "mypy-boto3-alexaforbusiness (>=1.24.0,<1.25.0)", "mypy-boto3-amp (>=1.24.0,<1.25.0)", "mypy-boto3-amplify (>=1.24.0,<1.25.0)", "mypy-boto3-amplifybackend (>=1.24.0,<1.25.0)", "mypy-boto3-amplifyuibuilder (>=1.24.0,<1.25.0)", "mypy-boto3-apigateway (>=1.24.0,<1.25.0)", "mypy-boto3-apigatewaymanagementapi (>=1.24.0,<1.25.0)", "mypy-boto3-apigatewayv2 (>=1.24.0,<1.25.0)", "mypy-boto3-appconfig (>=1.24.0,<1.25.0)", "mypy-boto3-appconfigdata (>=1.24.0,<1.25.0)", "mypy-boto3-appflow (>=1.24.0,<1.25.0)", "mypy-boto3-appintegrations (>=1.24.0,<1.25.0)", "mypy-boto3-application-autoscaling (>=1.24.0,<1.25.0)", "mypy-boto3-application-insights (>=1.24.0,<1.25.0)", "mypy-boto3-applicationcostprofiler (>=1.24.0,<1.25.0)", "mypy-boto3-appmesh (>=1.24.0,<1.25.0)", "mypy-boto3-apprunner (>=1.24.0,<1.25.0)", 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diff --git a/fogros2/pyproject.toml b/fogros2/pyproject.toml
new file mode 100644
index 0000000..7ba9fd3
--- /dev/null
+++ b/fogros2/pyproject.toml
@@ -0,0 +1,57 @@
+[tool.poetry]
+name = "fogros2"
+version = "0.1.5"
+description = "A ROS 2 extension for the cloud deployment of computational graphs in a cloud-provider agnostic and security-conscious manner."
+authors = ["Berkeley AutoLAB <autolab@berkeley.edu>"]
+license = "Apache-2.0"
+
+# Poetry
+
+[tool.poetry.dependencies]
+python = "^3.8"
+boto3 = "^1.24.7"
+scp = "^0.14.4"
+wgconfig = "^0.2.2"
+paramiko = "^2.11.0"
+
+[tool.poetry.dev-dependencies]
+black = "^22.3.0"
+mypy = "^0.961"
+types-boto3 = "^1.0.2"
+flake8 = "^4.0.1"
+isort = "^5.10.1"
+pytest = "^7.1.2"
+coverage = "^6.4.1"
+pre-commit = "^2.19.0"
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
+
+# Dev-Dependency Configuration
+
+[tool.isort]
+profile = "black"
+
+[tool.coverage.run]
+source = ["fogros2"]
+branch = true
+
+# ROS
+
+[tool.colcon-poetry-ros.data-files]
+"share/ament_index/resource_index/packages" = ["resource/fogros2"]
+"share/fogros2" = ["package.xml"]
+"share/fogros2/launch" = ["launch/cloud.launch.py"]
+"share/fogros2/configs" = [
+    "configs/cyclonedds.ubuntu.2004.xml",
+    "configs/cyclonedds.ubuntu.2204.xml",
+]
+
+[tool.poetry.plugins."ros2cli.command"]
+"fog" = "fogros2.command.fog:FogCommand"
+
+[tool.poetry.plugins."fogros2.verb"]
+"list" = "fogros2.verb.list:ListVerb"
+"delete" = "fogros2.verb.delete:DeleteVerb"
+"connect" = "fogros2.verb.ssh:SSHVerb"
diff --git a/fogros2/requirements.txt b/fogros2/requirements.txt
deleted file mode 100644
index 8699cbd..0000000
--- a/fogros2/requirements.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-boto3
-scp
-wgconfig
-paramiko
diff --git a/fogros2/setup.cfg b/fogros2/setup.cfg
deleted file mode 100755
index f848b5c..0000000
--- a/fogros2/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/fogros2
-[install]
-install_scripts=$base/lib/fogros2
diff --git a/fogros2/setup.py b/fogros2/setup.py
deleted file mode 100755
index f948207..0000000
--- a/fogros2/setup.py
+++ /dev/null
@@ -1,67 +0,0 @@
-# Copyright ©2022. The Regents of the University of California (Regents).
-# All Rights Reserved. Permission to use, copy, modify, and distribute this
-# software and its documentation for educational, research, and not-for-profit
-# purposes, without fee and without a signed licensing agreement, is hereby
-# granted, provided that the above copyright notice, this paragraph and the
-# following two paragraphs appear in all copies, modifications, and
-# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
-# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
-# otl@berkeley.edu, http://ipira.berkeley.edu/industry-info for commercial
-# licensing opportunities. IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY
-# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
-# INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS
-# DOCUMENTATION, EVEN IF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
-# DAMAGE. REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-# PARTICULAR PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY,
-# PROVIDED HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
-# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
-
-import os
-from glob import glob
-
-from setuptools import find_packages, setup
-
-package_name = "fogros2"
-setup(
-    name=package_name,
-    version="0.1.0",
-    packages=find_packages(exclude=["test"]),
-    data_files=[
-        (
-            "share/ament_index/resource_index/packages",
-            [os.path.join("resource", package_name)],
-        ),
-        (os.path.join("share", package_name), ["package.xml"]),
-        (
-            os.path.join("share", package_name, "launch"),
-            glob("launch/*.launch.py"),
-        ),
-        (
-            os.path.join("share", package_name, "configs"),
-            glob("configs/*.xml"),
-        ),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    author="Kaiyuan (Eric) Chen, Víctor Mayoral-Vilches",
-    author_email="kych@berkeley.edu, v.mayoralv@gmail.com",
-    maintainer="Kaiyuan (Eric) Chen",
-    maintainer_email="kych@berkeley.edu",
-    description="ROS 2 extension for cloud computational graph deployment",
-    long_description="""A ROS 2 extension for the cloud deployment
-                        of computational graphs in a cloud-provider agnostic
-                        and security-conscious manner.""",
-    license="Apache License, Version 2.0",
-    tests_require=["pytest"],
-    entry_points={
-        "ros2cli.command": [
-            "fog = fogros2.command.fog:FogCommand",
-        ],
-        "fogros2.verb": [
-            "list = fogros2.verb.list:ListVerb",
-            "delete = fogros2.verb.delete:DeleteVerb",
-            "connect = fogros2.verb.ssh:SSHVerb",
-        ],
-    },
-)