diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml
index bc8d866b6..6d91a9651 100644
--- a/ansible/roles/build/tasks/main.yml
+++ b/ansible/roles/build/tasks/main.yml
@@ -96,6 +96,7 @@
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
+      - vainfo
 
 - name: Install Local APT Packages
   become: True
@@ -205,3 +206,8 @@
       - "{{ catkin_workspace }}/src/mrover[dev]"
     virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
     virtualenv_command: /usr/bin/python3.10 -m venv
+
+- name: Install Chromium
+  become: True
+  snap:
+    name: chromium
diff --git a/ansible/roles/dev/tasks/main.yml b/ansible/roles/dev/tasks/main.yml
index e064a2571..9fdbef4d0 100644
--- a/ansible/roles/dev/tasks/main.yml
+++ b/ansible/roles/dev/tasks/main.yml
@@ -16,12 +16,12 @@
 - name: ZSH Automatic Suggestions Plugin
   git:
     repo: https://github.com/zsh-users/zsh-autosuggestions
-    dest: ~/.oh-my-zsh/custom/plugins/zsh-autosuggestions
+    dest: ~/.oh-my-zsh/custom/plugins/
 
 - name: ZSH Syntax Highlighting Plugin
   git:
     repo: https://github.com/zsh-users/zsh-syntax-highlighting
-    dest: ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting
+    dest: ~/.oh-my-zsh/custom/plugins/
 
 - name: Use ZSH as a default shell
   become: true
diff --git a/ansible/roles/esw/tasks/main.yml b/ansible/roles/esw/tasks/main.yml
index c734c770b..f9a81d7a5 100644
--- a/ansible/roles/esw/tasks/main.yml
+++ b/ansible/roles/esw/tasks/main.yml
@@ -13,6 +13,13 @@
   become: true
   command: udevadm trigger --subsystem-match=tty
 
+- name: Install fdcanusb Binary
+  become: true
+  copy:
+    src: files/bin/fdcanusb_daemon
+    dest: /usr/local/bin/
+    mode: 0755
+
 - name: Install Moteus GUI
   pip:
     name: moteus_gui
diff --git a/src/teleoperation/gui_chromium.sh b/src/teleoperation/gui_chromium.sh
index 70ade9866..3f5e50061 100755
--- a/src/teleoperation/gui_chromium.sh
+++ b/src/teleoperation/gui_chromium.sh
@@ -1,3 +1,7 @@
 #!/bin/bash
 
+# Our stream is encoded with the HVEC (H.265) codec
+# Chromium currently only supports this when using VA-API hardware acceleration
+# It uses the WebCodecs API to decode
+# You can easily test if your setup works with this URL: https://w3c.github.io/webcodecs/samples/video-decode-display/
 chromium --enable-features=VaapiVideoDecodeLinuxGL --app=http://localhost:8080