diff --git a/Dockerfile b/Dockerfile
index 6dbc3f1..251527e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,5 +1,5 @@
 # You can change this to any version of ubuntu with little consequence
-FROM ubuntu:14.04
+FROM ros:indigo
 MAINTAINER George Burdell contactgtagency@gmail.com
 
 # Setup apt to be happy with no console input
diff --git a/circle.yml b/circle.yml
index 29b9253..7c5124f 100644
--- a/circle.yml
+++ b/circle.yml
@@ -2,6 +2,7 @@ machine:
   services:
     - docker
 
+
 checkout:
   post:
       # Make sure that submodules are really, truly up to date
@@ -14,8 +15,9 @@ dependencies:
     - ./DoCIF/commands/buildbaseimage.sh
       # Actually the test step
     - ./DoCIF/commands/runtests.sh
-  cache_directories:
+cache_directories:
       # This shouldn't actually cache anything because config.docif says not to
+      # TODO add directories that should be cached in addition to ccache
     - ~/.ccache # See $CACHE_DIRECTORIES in config.docif
 
 # The test phase dosen't actually run tests. We need the caching from the deploy step.
diff --git a/install b/install
index 2d4f1b7..65805dc 100755
--- a/install
+++ b/install
@@ -8,7 +8,7 @@
 # Takes the same arguments as apt-get
 safe-apt-get() {
     i=0
-    
+
     # Wait while the dpkg lock is set
     while fuser /var/lib/dpkg/lock >/dev/null 2>&1 ; do
         case $(($i % 4)) in
@@ -17,10 +17,10 @@ safe-apt-get() {
             2 ) j="|" ;;
             3 ) j="/" ;;
         esac
-        echo -en "\r[$j] Waiting for other software managers to finish..." 
+        echo -en "\r[$j] Waiting for other software managers to finish..."
         sleep 0.5
         ((i=i+1))
-    done 
+    done
 
     sudo apt-get "$@"
 }
@@ -30,18 +30,18 @@ set -e
 
 # need this to be able to install ds4drv and urllib3[secure], and this should
 # be done outside the  virtualenvironment
-safe-apt-get -y install python-dev libffi-dev libssl-dev libxml2-dev 
+safe-apt-get -y install python-dev libffi-dev libssl-dev libxml2-dev python-pip
 safe-apt-get -y install libxslt1-dev libjpeg8-dev zlib1g-dev
 
 # install virtualenv for python2 and create a virtual environment
-safe-apt-get -y install python-virtualenv
+sudo pip install virtualenv
 python -m virtualenv .
 
 # activate the virtualenv we just created
 source bin/activate
 
 # remove a name conflict with catkin_make later
-rm local/buzzmobile
+rm -f local/buzzmobile
 
 # default pip version in a venv is 1.5.4, we want to upgrade to a newer version
 # that supports anylinux wheels, specifically this is for OpenCV and
@@ -75,14 +75,16 @@ safe-apt-get install -y psmisc
 safe-apt-get install -y build-essential cmake libqt4-dev libxml2-dev libxslt1-dev python-dev qtmobility-dev python-pip python-qt4
 
 # pyqt only installs at a system level, which means we need to symlink
-ln -s /usr/lib/python2.7/dist-packages/PyQt4/ ./lib/python2.7/site-packages/
-ln -s /usr/lib/python2.7/dist-packages/sip.so ./lib/python2.7/site-packages/
+ln -sf /usr/lib/python2.7/dist-packages/PyQt4/ ./lib/python2.7/site-packages/
+ln -sf /usr/lib/python2.7/dist-packages/sip.so ./lib/python2.7/site-packages/
 
 # ---------
 # Everything above this point has been installing various python dependencies
 # for things we do. Stuff below this is the ros build and install.
 
-sudo rosdep init # This can only be run once. Possible enhancement, check this
+# This can only be run once without it failing.
+# TODO make this avoid running 'rosdep init' if we already have ros installed
+sudo rosdep init || true
 rosdep update
 
 # Build our project and install rosdeps