diff --git a/CMakeLists.txt b/CMakeLists.txt
index db01460..570b796 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -164,8 +164,7 @@ target_link_libraries(
 
 endif()
 
-if(APOLLO)
-if(KIA_SOUL_EV)
+if(APOLLO AND (KIA_SOUL_EV OR KIA_NIRO))
 
 find_package(catkin 
              REQUIRED COMPONENTS 
@@ -188,7 +187,6 @@ add_library(
 link_directories(
     /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/canbus/
     /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/control/
-    /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/localization/
     /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/common/proto
     /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/drivers/canbus/common/
     /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/drivers/canbus/proto/
@@ -202,6 +200,7 @@ add_executable(
 target_include_directories(
   ${PROJECT_NAME}_apollo PUBLIC
   include
+  oscc/api/include
 )
 
 add_dependencies(
@@ -217,13 +216,10 @@ target_link_libraries(
   ${PROJECT_NAME}_pid_control
   /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/canbus/proto/libcanbus_proto_lib.a
   /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/control/proto/libcontrol_proto_lib.a
-  /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/localization/proto/liblocalization_proto_lib.a
-  /apollo/bazel-apollo/bazel-out/local-dbg/bin/modules/localization/proto/libpose_proto_lib.a
   canbus_proto_lib
   protobuf
   canbus_lib
   control_lib
-  localization_lib
   canbus_common
   vehicle_signal_proto_lib
   pnc_point_proto_lib
@@ -235,7 +231,6 @@ target_link_libraries(
   vehicle_state_proto_lib 
 )
 
-endif()
 endif()
 
 #############
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..8083ff4
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,26 @@
+FROM ubuntu:16.04
+
+WORKDIR /app
+
+# common packages
+RUN apt-get update && \
+    apt-get install -y \
+    build-essential cmake git wget && \
+    rm -rf /var/lib/apt/lists/*
+
+# add ROS packages to apt package manager
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
+
+RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# install ros
+RUN apt-get update && \
+    apt-get install -y ros-kinetic-ros-base
+
+# install arduino toolchain
+RUN wget -nv http://arduino.cc/download.php?f=/arduino-1.8.5-linux64.tar.xz -O arduino-1.8.5.tar.xz
+
+RUN tar -xf arduino-1.8.5.tar.xz && \
+    cd arduino-1.8.5 && \
+    mkdir -p /usr/share/arduino && \
+    cp -R * /usr/share/arduino
diff --git a/Jenkinsfile b/Jenkinsfile
index b3322bf..b5d2c3b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,43 +1,66 @@
 #!groovy
-node('xenial') {
-  try {
-    stage('Checkout') {
-      sh 'mkdir -p catkin_ws/src/roscco'
-      dir('catkin_ws/src/roscco')
-      {
-        checkout([
-          $class: 'GitSCM',
-          branches: scm.branches,
-          doGenerateSubmoduleConfigurations: false,
-          extensions: scm.extensions + [[$class: 'CleanBeforeCheckout'],
-            [$class: 'SubmoduleOption',
-            disableSubmodules: false,
-            parentCredentials: true,
-            recursiveSubmodules: true,
-            reference: '',
-            trackingSubmodules: false]],
-          submoduleCfg: [],
-          userRemoteConfigs: scm.userRemoteConfigs
-        ])
-      }
+
+node() {
+    def builds = [:]
+    def platforms = [:]
+
+    sh 'mkdir -p catkin_ws/src/roscco'
+    dir('catkin_ws/src/roscco') {
+        checkout scm
+        sh "git submodule update --init --recursive"
+
+        def image = docker.build("catkin_make-build:${env.BUILD_ID}")
+
+
+        def output = image.inside {
+            sh returnStdout: true, script: "cmake -LA ./oscc/firmware | grep 'VEHICLE_VALUES' | cut -d'=' -f 2"
+        }
+
+        platforms = output.trim().tokenize(';')\
     }
-    stage('Build') {
-      parallel 'kia soul firmware': {
-        sh '. /opt/ros/kinetic/setup.sh && cd catkin_ws && catkin_make -DKIA_SOUL=ON'
-      }
-      echo 'Build Complete!'
+
+    for(int j=0; j<platforms.size(); j++) {
+        def platform_idx = j
+        def platform = platforms[platform_idx]
+        builds[platform] = {
+            node {
+                sh 'mkdir -p catkin_ws/src/roscco'
+                dir('catkin_ws/src/roscco') {
+                    checkout scm
+                    sh "git submodule update --init --recursive"
+                }
+
+                image = docker.build("catkin_make-build:${env.BUILD_ID}", "./catkin_ws/src/roscco")
+
+                stage("Build ${platform}"){
+                    image.inside {
+                        sh ". /opt/ros/kinetic/setup.sh && \
+                            cd catkin_ws && \
+                            catkin_make -DVEHICLE=${platform}"
+
+                        echo "${platform}: Build Complete!"
+                    }
+                }
+
+                def workspace = pwd()
+
+                stage("Test ${platform}"){
+                    image.inside{
+                        sh ". /opt/ros/kinetic/setup.sh && \
+                            cd catkin_ws && \
+                            ROS_HOME=${workspace} ROS_LOG_DIR=${workspace} catkin_make run_tests -DVEHICLE=${platform} && \
+                            catkin_test_results --verbose"
+                    }
+                }
+            }
+        }
     }
-    stage('Test') {
-      parallel 'kia soul tests': {
-        sh '. /opt/ros/kinetic/setup.sh && cd catkin_ws && catkin_make run_tests -DKIA_SOUL=ON && catkin_test_results'
-        echo 'ROS Tests Complete!'
-      }
+
+    try {
+        parallel builds
     }
-    stage('Release') {
-      echo 'Release Package Created!'
+    finally {
+        deleteDir()
     }
-  }
-  finally {
-    deleteDir()
-  }
+
 }
diff --git a/README.md b/README.md
index 60c99f2..89adf26 100644
--- a/README.md
+++ b/README.md
@@ -77,7 +77,7 @@ for roscco_node and the roscco_node sends it's received messages to OSCC API.
 ROSCCO can serve as a bridge to Baidu's open autonomous driving platform Apollo.
 
 This example only support the Kia Soul EV. We are planning on extending support to the Kia Niro.
-You will need a double channel Kvaser or two single channel Kvaser, can0 will be drivekit CAN and can1 will be diagnostics CAN.
+You will need a double channel Kvaser or two single channel Kvaser, to connect to drivekit CAN and diagnostics CAN.
 
 #### Installation and build
 
diff --git a/example/roscco_apollo.cpp b/example/roscco_apollo.cpp
index 5406008..edc6e6f 100644
--- a/example/roscco_apollo.cpp
+++ b/example/roscco_apollo.cpp
@@ -11,9 +11,8 @@ RosccoApollo::RosccoApollo()
     steering_sub = nh.subscribe( "/apollo/control", 1, &RosccoApollo::steeringCallback, this );  
     brake_sub = nh.subscribe( "/apollo/control", 1, &RosccoApollo::brakeCallback, this );
     throttle_sub = nh.subscribe( "/apollo/control", 1, &RosccoApollo::throttleCallback, this );
-    localization_sub = nh.subscribe( "/apollo/localization/pose", 1, &RosccoApollo::localizationCallback, this );
 
-    can_frame_sub = nh.subscribe( "/can_frame", 1, &RosccoApollo::EVCanFrameCallback, this );
+    can_frame_sub = nh.subscribe( "/can_frame", 1, &RosccoApollo::canFrameCallback, this );
 }
 
 
@@ -50,27 +49,35 @@ void RosccoApollo::throttleCallback( const apollo::control::ControlCommand& inpu
 }
 
 
-void RosccoApollo::EVCanFrameCallback( const roscco::CanFrame& input ) 
+void RosccoApollo::canFrameCallback( const roscco::CanFrame& input ) 
 {
     switch( input.frame.can_id )
     {
-        case 512: 
+        case KIA_SOUL_OBD_THROTTLE_PRESSURE_CAN_ID: 
         {
-            throttle_report = input.frame.data[4];
+            #if defined( KIA_SOUL_EV )
+                throttle_report = input.frame.data[4];
+            #elif defined( KIA_NIRO )
+                throttle_report = input.frame.data[7];
+            #endif
 
             throttle_report = throttle_report * THROTTLE_RATIO;
 
             break;
         }
-        case 544: 
+        case KIA_SOUL_OBD_BRAKE_PRESSURE_CAN_ID: 
         {
-            brake_report = input.frame.data[4] + input.frame.data[5] * 256;
+            #if defined( KIA_SOUL_EV )
+                brake_report = input.frame.data[4] + input.frame.data[5] * 256;
+            #elif defined( KIA_NIRO )
+                brake_report = input.frame.data[3] + input.frame.data[4] * 256;
+            #endif
 
-            brake_report = brake_report * EV_BRAKE_RATIO;
+            brake_report = brake_report * BRAKE_RATIO;
 
             break;
         }
-        case 688: 
+        case KIA_SOUL_OBD_STEERING_WHEEL_ANGLE_CAN_ID: 
         {
             steering_angle_report = input.frame.data[0] + input.frame.data[1] * 256;
 
@@ -83,17 +90,19 @@ void RosccoApollo::EVCanFrameCallback( const roscco::CanFrame& input )
 
             break;
         }
-        case 1200:
+        case KIA_SOUL_OBD_SPEED_CAN_ID:
         {
-            speed_report = input.frame.data[0] + input.frame.data[2]
-                            + input.frame.data[4] + input.frame.data[6];
+            #if defined( KIA_SOUL_EV )
+                speed_report = input.frame.data[3] + input.frame.data[2] * 128;
 
-            speed_report += ( input.frame.data[1] + input.frame.data[3]
-                            + input.frame.data[5] + input.frame.data[7] ) * 256;
+                speed_report = speed_report * SPEED_RATIO;
 
-            speed_report = speed_report / 4;
+            #elif defined( KIA_NIRO )
+                speed_report = input.frame.data[0];
 
-            speed_report = speed_report * EV_SPEED_RATIO;
+                speed_report = speed_report * SPEED_RATIO;
+            
+            #endif
 
             break;
         }
@@ -115,13 +124,6 @@ void RosccoApollo::EVCanFrameCallback( const roscco::CanFrame& input )
 }
 
 
-void RosccoApollo::localizationCallback( const apollo::localization::LocalizationEstimate& input ) 
-{
-    std::cout << std::to_string( input.pose().position().x() ) << ", "
-              << std::to_string( input.pose().position().y() ) << "\n";
-}
-
-
 void closedLoopControl( double setpoint, 
                         roscco::SteeringCommand& output,
                         double steering_angle_report )
@@ -134,9 +136,9 @@ void closedLoopControl( double setpoint,
     params.max = 1;
     params.min = -1;
     params.p_term = 0.016;
-    params.i_term = 0.0001;
-    params.d_term = 0.01;
-    params.i_max = 5000;
+    params.i_term = 0.004;
+    params.d_term = 0.001;
+    params.i_max = 250;
 
     output.steering_torque = pidController( &params, &state, steering_angle_report );
 }
diff --git a/example/roscco_apollo.h b/example/roscco_apollo.h
index 8328d42..d17402f 100644
--- a/example/roscco_apollo.h
+++ b/example/roscco_apollo.h
@@ -5,18 +5,21 @@
 #include <roscco/CanFrame.h>
 #include <modules/canbus/proto/chassis.pb.h>
 #include <modules/control/proto/control_cmd.pb.h>
-#include <modules/localization/proto/localization.pb.h>
 #include <roscco/pid_control.h>
 #include <string>
 #include <math.h>
+#include <vehicles.h>
 
 #define THROTTLE_RATIO 0.393
-#define EV_BRAKE_RATIO 0.118
-#define PETROL_BRAKE_RATIO 0.056
 #define STEERING_RATIO 0.018
-#define EV_SPEED_RATIO 0.003
-#define PETROL_SPEED_RATIO 0.02
 
+#if defined( KIA_SOUL_EV )
+    #define BRAKE_RATIO 0.12
+    #define SPEED_RATIO 0.002
+#elif defined( KIA_NIRO )
+    #define BRAKE_RATIO 0.033
+    #define SPEED_RATIO 0.3
+#endif
 
 class RosccoApollo
 {
@@ -57,14 +60,7 @@ class RosccoApollo
      *
      * @param roscco can frame message to be consumed
      */
-    void EVCanFrameCallback( const roscco::CanFrame& input );
-    
-    /**
-     * @brief Callback function to log localization
-     *
-     * @param apollo localization message to be consumed
-     */
-    void localizationCallback( const apollo::localization::LocalizationEstimate& input );
+    void canFrameCallback( const roscco::CanFrame& input );
 
     ros::NodeHandle nh;
 
diff --git a/oscc b/oscc
index 2a2f112..60ac713 160000
--- a/oscc
+++ b/oscc
@@ -1 +1 @@
-Subproject commit 2a2f1122e620dfe0767206a2ea81ea8a7ca42552
+Subproject commit 60ac71346e671fdf4fba9c979ad3d372809ef5c7
diff --git a/test/test_oscc_to_ros.cpp b/test/test_oscc_to_ros.cpp
index aaa7b74..9b04316 100644
--- a/test/test_oscc_to_ros.cpp
+++ b/test/test_oscc_to_ros.cpp
@@ -7,7 +7,7 @@
 #include <roscco/oscc_to_ros.h>
 
 // Time to allow ROS to process callbacks and publish a message
-const double SLEEP_TIME = 0.02;
+const double SLEEP_TIME = 0.05;
 
 template <class T>
 class MessageHelper