diff --git a/frc971/rockpi/README.md b/frc971/rockpi/README.md
index c71ee08..4f44739 100644
--- a/frc971/rockpi/README.md
+++ b/frc971/rockpi/README.md
@@ -17,9 +17,74 @@
 
 # Installing
 
+We're currently installing the filesystem onto the eMMC of the Rock
+Pis.  This involves a multi-step process:
+
+* Create an SD card with the image.  The Pi will boot off of this in order to flash the eMMC
+
+Assuming the SD card shows up on your system as /dev/sda, then you can use the command:
+
 `sudo dd if=arm64_bullseye_debian.img of=/dev/sda status=progress`
 
-The default user is `pi`, and password is `raspberry`.
+WARNING: any time you're using 'dd' to write data, make SURE you've got the right output
+device, e.g., here of=/dev/sda.  It's possible your hard drive is /dev/sda, and you
+don't want to over-write that!!
+
+* Create a USB drive with the image on it.  We'll use this to copy the image to the eMMC
+
+We're using the xfs filesystem for USB thumb drives.  To create this, do the following:
+* Insert the thumbdrive
+* Figure out which device this is and unmount it.  E.g., if it's /dev/sdb1, do
+  * `sudo umount /dev/sdb1`
+* Run fdisk to create an empty partition:
+  * `sudo fdisk /dev/sdb`
+  * Type "o" to create an empty DOS partition table
+  * Type "n" to create a new partition
+  * Type "p" to select primary partition
+  * Accept the next 3 default values (1, 2048, 500170751) (or whatever end block is given)
+  * Type "w" to write this information to the partition table
+* Run mkfs to make this an xfs file system:
+  * `sudo mkfs -t xfs -f /dev/sdb1`
+    * (Note, you might have to install the xfs file system support for mkfs)
+* Change permissions on the drive to make it write-able
+  * `sudo chmod a+rwx [path-to-drive]`
+    * where `[path-to-drive]` is the path to the drive, e.g., /media/jim/XXXX
+    (I believe /dev/sdb1 should work, also)
+
+# Writing the disk image to the eMMC
+
+Insert the SD card and the thumbdrive and boot the Pi.
+
+It should come up as pi-971-1 (IP: 10.9.71.101).  The default user is
+`pi`, and password is `raspberry`.  Note: if you don't have your ssh
+key installed, you should get that added to the base image.
+
+Once booted, login and write the image to the eMMC:
+
+`sudo dd if=/media/sda1/arm64_bullseye_debian.img of=/dev/mmcblk1 status=progress`
+
+Then, power down the Pi, remove the SD card and the USB thumb drive, and power on the Pi
+
+Once it's up, login again.
+
+Change the hostname to the desired hostname, e.g., if you want it to be pi-9971-2, use
+
+`sudo /root/bin/change_hostname.sh pi-9971-2`
+
+It's a good idea here to reboot the Pi one more time to make sure it
+came up with the expected IP address and hostname.
+
+# Additional steps in setting up the Rock Pis
+
+We also have been plugging in a USB thumb drive to each Pi to do logging.
+
+We are formatting these as xfs filesystems.  To do this follow the
+above instructions on a new USB drive to format as xfs.
+
+That's it!!
+
+
+# Other notes:
 
 # State of RK3399 image processing.
 
diff --git a/frc971/rockpi/build_rootfs.sh b/frc971/rockpi/build_rootfs.sh
index 78ae6ac..d19a260 100755
--- a/frc971/rockpi/build_rootfs.sh
+++ b/frc971/rockpi/build_rootfs.sh
@@ -12,14 +12,14 @@
 # Check if dependencies are missing.
 missing_deps=()
 REQUIRED_DEPS=(
-    flex
     bison
-    gcc-arm-none-eabi
-    gcc-aarch64-linux-gnu
-    u-boot-tools
-    device-tree-compiler
-    swig
     debootstrap
+    device-tree-compiler
+    flex
+    gcc-aarch64-linux-gnu
+    gcc-arm-none-eabi
+    swig
+    u-boot-tools
 )
 for dep in "${REQUIRED_DEPS[@]}"; do
     if ! dpkg-query -W -f='${Status}' "${dep}" | grep -q "install ok installed"; then
@@ -258,6 +258,13 @@
 
 target "apt-get clean"
 
+# Add a file to show when this image was last modified and by whom
+TIMESTAMP_FILE="${PARTITION}/home/pi/.ImageModifiedDate.txt"
+echo "Date modified:"`date` > "${TIMESTAMP_FILE}"
+echo "Image file: ${IMAGE}"  >> "${TIMESTAMP_FILE}"
+echo "Git tag: "`git rev-parse HEAD` >> "${TIMESTAMP_FILE}"
+echo "User: "`whoami` >> "${TIMESTAMP_FILE}"
+
 sudo chroot ${PARTITION} qemu-aarch64-static /bin/bash
 
 # TODO(austin): This appears to not be working...  pi_target doesn't apper to be happy
diff --git a/frc971/rockpi/contents/root/bin/change_hostname.sh b/frc971/rockpi/contents/root/bin/change_hostname.sh
index 43e6528..785903e 100755
--- a/frc971/rockpi/contents/root/bin/change_hostname.sh
+++ b/frc971/rockpi/contents/root/bin/change_hostname.sh
@@ -33,10 +33,16 @@
 # Put corret team number in pi's IP addresses, or add them if needed
 if grep '^10\.[0-9]*\.[0-9]*\.[0-9]*\s*pi-[0-9]*-[0-9] pi[0-9]$' /etc/hosts >/dev/null ;
 then
-  sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi[0-9]\)$/${IP_BASE}\1${TEAM_NUMBER}\2/" /etc/hosts
+  sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi[0-9]\)\(.*\)$/${IP_BASE}\1${TEAM_NUMBER}\2\3/" /etc/hosts
 else
   for i in {1..6}; do
-    echo -e "${IP_BASE}.$(( i + 100 ))\tpi-${TEAM_NUMBER}-${i} pi${i}" >> /etc/hosts
+      imu=""
+      # Add imu name to pi6.  Put space in this string, since extra
+      # spaces otherwise will make the above grep fail
+      if [[ ${i} == 6 ]]; then
+          imu=" imu"
+      fi
+    echo -e "${IP_BASE}.$(( i + 100 ))\tpi-${TEAM_NUMBER}-${i} pi${i}${imu}" >> /etc/hosts
   done
 fi
 
diff --git a/y2023/y2023_logger.json b/y2023/y2023_logger.json
index 641b1da..861372a 100644
--- a/y2023/y2023_logger.json
+++ b/y2023/y2023_logger.json
@@ -41,7 +41,7 @@
       ]
     },
     {
-      "name": "/camera",
+      "name": "/logger/camera",
       "type": "y2023.vision.GamePieces",
       "source_node": "logger",
       "logger": "LOCAL_AND_REMOTE_LOGGER",
@@ -64,7 +64,7 @@
       ]
     },
     {
-      "name": "/logger/aos/remote_timestamps/roborio/camera/y2023-vision-GamePieces",
+      "name": "/logger/aos/remote_timestamps/roborio/logger/camera/y2023-vision-GamePieces",
       "type": "aos.message_bridge.RemoteMessage",
       "source_node": "logger",
       "logger": "NOT_LOGGED",