diff --git a/image_builder/build.Jenkinsfile b/image_builder/build.Jenkinsfile
index 622be2f4..1426248b 100644
--- a/image_builder/build.Jenkinsfile
+++ b/image_builder/build.Jenkinsfile
@@ -72,10 +72,11 @@ pipeline {
       environment {
         EXECUTE_FILE = 'image_builder/scripts/ros_install.sh'
         MOVE_FILE = 'image_builder/kinetic-ros-coex.rosinstall'
+        MOVE_TO = '/home/pi/ros_catkin_ws'
       }
       steps {
-        sh "if ! ${params.DISCOVER_ROS_PACKAGES}; then $WORKSPACE/image_builder/image_config.sh copy_to_chroot ${params.BUILD_DIR}/${params.IMAGE_NAME} $WORKSPACE/$MOVE_FILE '/root'; fi"
-        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} $WORKSPACE/$EXECUTE_FILE ${params.GWBT_URL} ${params.DISCOVER_ROS_PACKAGES}"
+        sh "if ! ${params.DISCOVER_ROS_PACKAGES}; then $WORKSPACE/image_builder/image_config.sh copy_to_chroot ${params.BUILD_DIR}/${params.IMAGE_NAME} $WORKSPACE/$MOVE_FILE $MOVE_TO; fi"
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} $WORKSPACE/$EXECUTE_FILE ${params.GWBT_URL} ${params.GWBT_REF} ${params.DISCOVER_ROS_PACKAGES}"
       }
     }
     // TODO: Add finalising step, transfer mirror removal from ros.sh
diff --git a/image_builder/scripts/ros_install.sh b/image_builder/scripts/ros_install.sh
index 5245f57e..46a3fa50 100755
--- a/image_builder/scripts/ros_install.sh
+++ b/image_builder/scripts/ros_install.sh
@@ -7,7 +7,6 @@ set -e
 ##################################################################################################################################
 
 # ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
-# maintainer @urpylka
 
 echo -e "\033[0;31m\033[1m$(date) | Installing ROS\033[0m\033[0m"
 
@@ -42,8 +41,8 @@ echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0
 # bootstrap rosdep
 rosdep init && rosdep update
 
-# If $2 = false, then discover packages
-if [ "$2" = "false" ];
+# If $3 = false, then discover packages
+if [ "$3" = "false" ];
 then
   echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
 
@@ -64,7 +63,6 @@ else
   echo -e "\033[0;31m\033[1m$(date) | #5 Creating manual ros_catkin_ws\033[0m\033[0m"
 
   mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
-    && mv /root/kinetic-ros-coex.rosinstall kinetic-ros-coex.rosinstall \
     && wstool init src kinetic-ros-coex.rosinstall
 fi
 
@@ -132,6 +130,8 @@ chown -Rf pi:pi /home/pi/ros_catkin_ws
 echo -e "\033[0;31m\033[1m$(date) | #12 Creating catkin_ws & Installing CLEVER-BUNDLE\033[0m\033[0m"
 
 git clone $1 /home/pi/catkin_ws/src/clever \
+  && cd /home/pi/catkin_ws/src/clever \
+  && git checkout $2 \
   && pip install wheel \
   && pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
   && cd /home/pi/catkin_ws \