diff --git a/src/pi/camera_streamer/setup.py b/src/pi/camera_streamer/setup.py
index 46dc20ed..1dcab2c8 100644
--- a/src/pi/camera_streamer/setup.py
+++ b/src/pi/camera_streamer/setup.py
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Noah Mollerstuen',
     maintainer_email='noah@mollerstuen.com',
diff --git a/src/pi/manipulators/setup.py b/src/pi/manipulators/setup.py
index 91554f3c..6c45869d 100644
--- a/src/pi/manipulators/setup.py
+++ b/src/pi/manipulators/setup.py
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Georgia Martinez, Michael Carlstrom',
     maintainer_email='gcm49@case.edu, rmc170@case.edu',
diff --git a/src/pi/pi_main/setup.py b/src/pi/pi_main/setup.py
index e83c8b65..6e345e61 100644
--- a/src/pi/pi_main/setup.py
+++ b/src/pi/pi_main/setup.py
@@ -21,7 +21,7 @@
         (os.path.join('share', PACKAGE_NAME, 'udev_rules'),
          glob('udev_rules/*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='rmc170@case.edu',
diff --git a/src/pi/pixhawk_communication/setup.py b/src/pi/pixhawk_communication/setup.py
index ff6d6920..f55542a6 100644
--- a/src/pi/pixhawk_communication/setup.py
+++ b/src/pi/pixhawk_communication/setup.py
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='rmc@carlstrom.com',
diff --git a/src/pi/realsense/setup.py b/src/pi/realsense/setup.py
index bc40b3d0..05114fa5 100644
--- a/src/pi/realsense/setup.py
+++ b/src/pi/realsense/setup.py
@@ -19,7 +19,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='rmc170@case.edu',
diff --git a/src/surface/flight_control/setup.py b/src/surface/flight_control/setup.py
index 4213bd15..fecd198a 100644
--- a/src/surface/flight_control/setup.py
+++ b/src/surface/flight_control/setup.py
@@ -17,7 +17,7 @@
         (os.path.join('share', package_name, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy>=1.7', 'pynput'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy>=1.7', 'pynput'],
     zip_safe=True,
     maintainer='benjamin',
     maintainer_email='bwp18@case.edu',
diff --git a/src/surface/gui/setup.py b/src/surface/gui/setup.py
index 4bd963b4..8796a58c 100644
--- a/src/surface/gui/setup.py
+++ b/src/surface/gui/setup.py
@@ -20,7 +20,7 @@
          glob('launch/*launch.[pxy][yma]*'))
     ],
     install_requires=['setuptools', 'pyqt6', 'pyqtdarktheme', 'opencv-python>=4.8.1',
-                      'numpy>=1.26', 'pytest-qt', 'pytest-xvfb', 'flake8==5.0.4', 'mypy>=1.7'],
+                      'numpy>=1.26', 'pytest-qt', 'pytest-xvfb', 'flake8==4.0.1', 'mypy>=1.7'],
     zip_safe=True,
     maintainer='Benjamin Poulin',
     maintainer_email='bwp18@case.edu',
diff --git a/src/surface/ps5_controller/setup.py b/src/surface/ps5_controller/setup.py
index 1e774264..d844a8c7 100644
--- a/src/surface/ps5_controller/setup.py
+++ b/src/surface/ps5_controller/setup.py
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='rmc170@case.edu',
diff --git a/src/surface/ros2_video_streamer b/src/surface/ros2_video_streamer
index bf082b09..aed5f989 160000
--- a/src/surface/ros2_video_streamer
+++ b/src/surface/ros2_video_streamer
@@ -1 +1 @@
-Subproject commit bf082b0929ed12949558ede6b6a1b82f82a939a8
+Subproject commit aed5f98999c1b73894d8f8ec21976f2c8077e1b0
diff --git a/src/surface/surface_main/setup.py b/src/surface/surface_main/setup.py
index cb5f249c..83574567 100644
--- a/src/surface/surface_main/setup.py
+++ b/src/surface/surface_main/setup.py
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='rmc170@case.edu',