diff --git a/unreal/Blocks/Blocks.uproject b/unreal/Blocks/Blocks.uproject
index ba3e1b24..d3f7802f 100644
--- a/unreal/Blocks/Blocks.uproject
+++ b/unreal/Blocks/Blocks.uproject
@@ -1,6 +1,6 @@
 {
 	"FileVersion": 3,
-	"EngineAssociation": "5.1",
+	"EngineAssociation": "5.6",
 	"Category": "",
 	"Description": "",
 	"Modules": [
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/LightActorBase.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/LightActorBase.cpp
index d5f7b5fd..063867cf 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/LightActorBase.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/LightActorBase.cpp
@@ -1,6 +1,7 @@
 // Copyright (C) Microsoft Corporation.  All rights reserved.
 
 #include "LightActorBase.h"
+#include "Components/LocalLightComponent.h"
 
 // Returns true if able to set intensity on all light components
 // False if any item is nullptr
@@ -38,7 +39,7 @@ bool ALightActorBase::SetRadius(float NewRadius) {
   for(int i = 0; i < lightComponents.Num(); i++)
   {
     ULocalLightComponent* localLightComponent =
-        dynamic_cast<ULocalLightComponent*>(lightComponents[i]);
+        Cast<ULocalLightComponent>(lightComponents[i]);
 
     if (localLightComponent != nullptr) {
       localLightComponent->SetAttenuationRadius(NewRadius);
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.cpp
index 3c7357f1..148d1037 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.cpp
@@ -23,6 +23,7 @@
 
 #include "bing_maps_utils.hpp"
 #include "tile_info.hpp"
+#include "core_sim/log_level.hpp"
 
 AGISRenderer::AGISRenderer()
     : SimServer(nullptr),
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.h
index 9702cf03..e1ebfe78 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/GISRenderer.h
@@ -6,6 +6,7 @@
 #include <unordered_map>
 #include <unordered_set>
 #include <vector>
+#include <memory>
 
 #include "CoreMinimal.h"
 #include "GameFramework/Actor.h"
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/ProcMeshActor.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/ProcMeshActor.cpp
index 29234fc5..57ac48c1 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/ProcMeshActor.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Renderers/ProcMeshActor.cpp
@@ -5,6 +5,7 @@
 #include "KismetProceduralMeshLibrary.h"
 #include "Materials/Material.h"
 #include "Materials/MaterialInstanceDynamic.h"
+#include <string>
 
 // Sets default values
 AProcMeshActor::AProcMeshActor() {
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Robot/UnrealRobotLink.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Robot/UnrealRobotLink.cpp
index 85dc5554..94921caa 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Robot/UnrealRobotLink.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Robot/UnrealRobotLink.cpp
@@ -11,6 +11,7 @@
 #include "UnrealLogger.h"
 #include "core_sim/link/geometry/unreal_mesh.hpp"
 #include "core_sim/math_utils.hpp"
+#include "UnrealHelpers.h"
 
 namespace projectairsim = microsoft::projectairsim;
 
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/GPULidar.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/GPULidar.cpp
index 651ecc79..8a0904b5 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/GPULidar.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/GPULidar.cpp
@@ -22,6 +22,7 @@
 #include "UObject/ConstructorHelpers.h"
 #include "UnrealCameraRenderRequest.h"
 #include "UnrealLogger.h"
+#include "UnrealTransforms.h"
 
 namespace projectairsim = microsoft::projectairsim;
 
@@ -128,12 +129,12 @@ void UGPULidar::SetupSceneCapture(
   }
 
   // Hide debug points in case "draw-debug-points" is set to true
-  OutSceneCaptureComp->HideComponent(
-      Cast<UPrimitiveComponent>(UnrealWorld->LineBatcher));
-  OutSceneCaptureComp->HideComponent(
-      Cast<UPrimitiveComponent>(UnrealWorld->PersistentLineBatcher));
-  OutSceneCaptureComp->HideComponent(
-      Cast<UPrimitiveComponent>(UnrealWorld->ForegroundLineBatcher));
+  OutSceneCaptureComp->HideComponent(Cast<UPrimitiveComponent>(
+      UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::World)));
+  OutSceneCaptureComp->HideComponent(Cast<UPrimitiveComponent>(
+      UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::WorldPersistent)));
+  OutSceneCaptureComp->HideComponent(Cast<UPrimitiveComponent>(
+      UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::Foreground)));
 
   OutSceneCaptureComp->RegisterComponent();
   auto RenderTarget = NewObject<UTextureRenderTarget2D>();
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.cpp
index ac57511f..ecd6d4b9 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.cpp
@@ -5,6 +5,7 @@
 #include <map>
 
 #include "core_sim/message/image_message.hpp"
+#include "UnrealLogger.h"
 
 namespace projectairsim = microsoft::projectairsim;
 
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.h
index 5135c9ba..3d470db3 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/ImagePackingAsyncTask.h
@@ -8,6 +8,7 @@
 #include "UnrealCameraRenderRequest.h"
 #include "core_sim/sensors/camera.hpp"
 #include "core_sim/transforms/transform_utils.hpp"
+#include "UnrealCamera.h"
 
 // This class follows the example template in Unreal's AsyncWork.h for
 // FAutoDeleteAsyncTask that deletes itself after completion on a background
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.cpp
index c2b6d8a9..cecf1c71 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.cpp
@@ -11,6 +11,7 @@
 #include "SceneRendering.h"
 
 #include "LidarIntensityShader.h"
+#include "PostProcess/SceneFilterRendering.h"
 
 static const bool DEBUG_RENDER_TO_VIEWPORT = false;
 
@@ -196,12 +197,12 @@ void FLidarIntensitySceneViewExtension::PrePostProcessPass_RenderThread(
             FScreenPassPipelineState(VertexShader, PixelShader,
                                      DefaultBlendState, DepthStencilState),
             [&](FRHICommandListImmediate& RHICmdList) {
-              VertexShader->SetParameters(RHICmdList, View);
+              VertexShader->SetParameters(RHICmdList.GetScratchShaderParameters(), View);
               SetShaderParameters(RHICmdList, VertexShader,
                                   VertexShader.GetVertexShader(),
                                   *PostProcessMaterialParameters);
 
-              PixelShader->SetParameters(RHICmdList, View);
+              PixelShader->SetParameters(RHICmdList.GetScratchShaderParameters(), View);
               SetShaderParameters(RHICmdList, PixelShader,
                                   PixelShader.GetPixelShader(),
                                   *PostProcessMaterialParameters);
@@ -288,12 +289,12 @@ void FLidarIntensitySceneViewExtension::PrePostProcessPass_RenderThread(
         RDG_EVENT_NAME("FCopyBufferToCPUPass"), CopyPassParameters,
         ERDGPassFlags::Readback,
         [this, &InitialData, PointCloudBufferRDG, BufferSize](FRHICommandList& RHICmdList) {
-          InitialData = (float*)RHILockBuffer(PointCloudBufferRDG->GetRHI(), 0,
+          InitialData = (float*)RHICmdList.LockBuffer(PointCloudBufferRDG->GetRHI(), 0,
                                               BufferSize, RLM_ReadOnly);
 
           FMemory::Memcpy(LidarPointCloudData.data(), InitialData, BufferSize);
 
-          RHIUnlockBuffer(PointCloudBufferRDG->GetRHI());
+          RHICmdList.UnlockBuffer(PointCloudBufferRDG->GetRHI());
         });
 }
 
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.h
index f90ddd1e..83e3be38 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.h
@@ -17,12 +17,10 @@ class FLidarIntensitySceneViewExtension : public FSceneViewExtensionBase {
                          FSceneView& InView) override {};
   virtual void BeginRenderViewFamily(FSceneViewFamily& InViewFamily) override {};
   virtual void PreRenderViewFamily_RenderThread(
-      FRHICommandListImmediate& RHICmdList,
+      FRDGBuilder& GraphBuilder,
       FSceneViewFamily& InViewFamily) override {};
-  virtual void PreRenderView_RenderThread(FRHICommandListImmediate& RHICmdList,
+  virtual void PreRenderView_RenderThread(FRDGBuilder& GraphBuilder,
                                           FSceneView& InView) override {};
-  virtual void PostRenderBasePass_RenderThread(
-      FRHICommandListImmediate& RHICmdList, FSceneView& InView) override {};
 
   // Only implement this, called right before post processing begins.
   virtual void PrePostProcessPass_RenderThread(
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensityShader.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensityShader.h
index 673ae5e8..916d07d5 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensityShader.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensityShader.h
@@ -2,18 +2,18 @@
 
 #include "CoreMinimal.h"
 #include "UnrealCameraRenderRequest.h"
-#include "Runtime/Engine/Classes/Engine/TextureRenderTarget2D.h"
+#include "Engine/TextureRenderTarget2D.h"
 
 #include "RHI.h"
 #include "RHIStaticStates.h"
-#include "Runtime/RenderCore/Public/ShaderParameterUtils.h"
-#include "Runtime/RenderCore/Public/RenderResource.h"
-#include "Runtime/Renderer/Public/MaterialShader.h"
-#include "Runtime/RenderCore/Public/RenderGraphResources.h"
+#include "ShaderParameterUtils.h"
+#include "RenderResource.h"
+#include "MaterialShader.h"
+#include "RenderGraphResources.h"
 
 // FScreenPassTextureViewportParameters and FScreenPassTextureInput
-#include "Runtime/Renderer/Private/ScreenPass.h"
-#include "Runtime/Renderer/Private/SceneTextureParameters.h"
+#include "ScreenPass.h"
+#include "SceneTextureParameters.h"
 
 BEGIN_SHADER_PARAMETER_STRUCT(FLidarIntensityShaderInputParameters, )
   SHADER_PARAMETER_STRUCT_REF(FViewUniformShaderParameters, View)
@@ -51,9 +51,9 @@ class FLidarIntensityPS : public FLidarIntensityShader {
       const ShaderMetaType::CompiledShaderInitializerType& Initializer)
       : FLidarIntensityShader(Initializer) {}
 
-  void SetParameters(FRHICommandList& RHICmdList, const FSceneView& View) {
+  void SetParameters(FRHIBatchedShaderParameters& BatchedParameters, const FSceneView& View) {
     FGlobalShader::SetParameters<FViewUniformShaderParameters>(
-        RHICmdList, RHICmdList.GetBoundPixelShader(), View.ViewUniformBuffer);
+        BatchedParameters, View.ViewUniformBuffer);
   }
 
   static void ModifyCompilationEnvironment(
@@ -73,8 +73,8 @@ class FLidarIntensityVS : public FLidarIntensityShader {
       const ShaderMetaType::CompiledShaderInitializerType& Initializer)
       : FLidarIntensityShader(Initializer) {}
 
-  void SetParameters(FRHICommandList& RHICmdList, const FSceneView& View) {
+  void SetParameters(FRHIBatchedShaderParameters& BatchedParameters, const FSceneView& View) {
     FGlobalShader::SetParameters<FViewUniformShaderParameters>(
-        RHICmdList, RHICmdList.GetBoundVertexShader(), View.ViewUniformBuffer);
+        BatchedParameters, View.ViewUniformBuffer);
   }
 };
\ No newline at end of file
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCamera.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCamera.cpp
index a22bc114..a4fba2b4 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCamera.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCamera.cpp
@@ -31,6 +31,7 @@
 #include "core_sim/message/image_message.hpp"
 #include "core_sim/sensors/camera.hpp"
 #include "core_sim/transforms/transform_utils.hpp"
+#include "UnrealTransforms.h"
 
 namespace projectairsim = microsoft::projectairsim;
 
@@ -146,12 +147,12 @@ void UUnrealCamera::LoadCameraMaterials() {
 
 void HideDebugDrawComponent(USceneCaptureComponent2D* CaptureComponent,
                             UWorld* UnrealWorld) {
+  CaptureComponent->HideComponent(Cast<UPrimitiveComponent>(
+      UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::World)));
   CaptureComponent->HideComponent(
-      Cast<UPrimitiveComponent>(UnrealWorld->LineBatcher));
-  CaptureComponent->HideComponent(
-      Cast<UPrimitiveComponent>(UnrealWorld->PersistentLineBatcher));
-  CaptureComponent->HideComponent(
-      Cast<UPrimitiveComponent>(UnrealWorld->ForegroundLineBatcher));
+      Cast<UPrimitiveComponent>(UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::WorldPersistent)));
+  CaptureComponent->HideComponent(Cast<UPrimitiveComponent>(
+      UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::Foreground)));
 }
 
 void UUnrealCamera::CreateComponents() {
@@ -915,7 +916,7 @@ void UUnrealCamera::OnRendered(
         FTextureRenderTargetResource* RtResource =
             CaptureComponent->TextureTarget->GetRenderTargetResource();
         if (RtResource) {
-          FRHITexture2D* Texture = RtResource->GetRenderTargetTexture();
+          FRHITexture* Texture = RtResource->GetRenderTargetTexture();
           // Copy pixel values out of Unreal's RHI
           UnrealCameraRenderRequest::RenderResult ImageResult;
           auto bIsDepthImage =
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.cpp
index 4915b0e6..8f8b78bc 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.cpp
@@ -18,7 +18,7 @@ void OnEndPlay() {
   ImageWrapperModule = nullptr;
 }
 
-void ReadPixels(FRHITexture2D* Texture, bool bPixelsAsFloat,
+void ReadPixels(FRHITexture* Texture, bool bPixelsAsFloat,
                 RenderResult* ImageResult) {
   FRHICommandListImmediate& RHICmdList =
       GetImmediateCommandList_ForRenderCommand();
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.h
index ce2a0e16..865b080d 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealCameraRenderRequest.h
@@ -4,6 +4,7 @@
 #pragma once
 
 #include "CoreMinimal.h"
+#include "core_sim/clock.hpp"
 
 namespace UnrealCameraRenderRequest {
 
@@ -23,7 +24,7 @@ void OnEndPlay();
 
 void OnBeginPlay();
 
-void ReadPixels(FRHITexture2D* Texture, bool bPixelsAsFloat,
+void ReadPixels(FRHITexture* Texture, bool bPixelsAsFloat,
                 RenderResult* ImageResult);
 
 bool CompressUsingImageWrapper(const TArray<FColor>& UnCompressed,
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealDistanceSensor.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealDistanceSensor.cpp
index 15f85202..79829da0 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealDistanceSensor.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealDistanceSensor.cpp
@@ -12,6 +12,7 @@
 #include "Runtime/Core/Public/Async/ParallelFor.h"
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 #include "UnrealLogger.h"
+#include "UnrealTransforms.h"
 
 namespace projectairsim = microsoft::projectairsim;
 
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.cpp
index b505e49b..6aa7528c 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.cpp
@@ -12,6 +12,8 @@
 #include "Runtime/Core/Public/Async/ParallelFor.h"
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 #include "UnrealLogger.h"
+#include "UnrealTransforms.h"
+#include "core_sim/clock.hpp"
 
 namespace projectairsim = microsoft::projectairsim;
 
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.h
index 3ef6bab0..c66b943d 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealLidar.h
@@ -12,6 +12,7 @@
 #include "core_sim/clock.hpp"
 #include "core_sim/sensors/lidar.hpp"
 #include "core_sim/transforms/transform_utils.hpp"
+#include <memory>
 
 // comment so that generated.h is always the last include file with clang-format
 #include "UnrealLidar.generated.h"
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealRadar.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealRadar.cpp
index f94a1cc7..03eba43e 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealRadar.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/UnrealRadar.cpp
@@ -483,8 +483,8 @@ inline projectairsim::Kinematics UUnrealRadar::GetKinematicsFromActor(
   // cast to get their kinematics.
   projectairsim::Kinematics Kin;  // constructs with zero values
 
-  const AUnrealRobot* RobotActor = Cast<AUnrealRobot, AActor>(Actor);
-  const AUnrealEnvActor* EnvActor = Cast<AUnrealEnvActor, AActor>(Actor);
+  const AUnrealRobot* RobotActor = Cast<AUnrealRobot>(Actor);
+  const AUnrealEnvActor* EnvActor = Cast<AUnrealEnvActor>(Actor);
 
   if (RobotActor) {
     Kin = RobotActor->GetKinematics();
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealHelpers.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealHelpers.h
index d6051c07..e4293867 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealHelpers.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealHelpers.h
@@ -28,6 +28,7 @@
 #include "Runtime/Engine/Classes/Engine/StaticMesh.h"
 #include "UnrealLogger.h"
 #include "core_sim/transforms/transform_utils.hpp"
+#include "ProceduralMeshComponent.h"
 
 // comment so that generated.h is always the last include file with clang-format
 #include "UnrealHelpers.generated.h"
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealLogger.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealLogger.h
index 09bbe445..0091fcdc 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealLogger.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealLogger.h
@@ -11,9 +11,9 @@ DECLARE_LOG_CATEGORY_EXTERN(SimPlugin, All, All);
 
 class UnrealLogger {
  public:
-  template <size_t N, typename... ArgTypes>
+  template <typename... ArgTypes>
   static void Log(microsoft::projectairsim::LogLevel level,
-                  const TCHAR (&format)[N], ArgTypes... args);
+      UE::Core::TCheckedFormatString<FString::FmtCharType, ArgTypes...> format, ArgTypes... args);
 
   static void LogSim(const std::string& module,
                      microsoft::projectairsim::LogLevel level,
@@ -23,9 +23,9 @@ class UnrealLogger {
   static std::string GetTimeStamp();
 };
 
-template <size_t N, typename... ArgTypes>
+template <typename... ArgTypes>
 inline void UnrealLogger::Log(microsoft::projectairsim::LogLevel level,
-                              const TCHAR (&format)[N], ArgTypes... args) {
+    UE::Core::TCheckedFormatString<FString::FmtCharType, ArgTypes...> format, ArgTypes... args) {
   FString LogMessage = FString::Printf(format, args...);
 
   // Output to Unreal's native log file/console
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.cpp
index c836103f..10042395 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.cpp
@@ -19,6 +19,7 @@
 #include "UnrealLogger.h"
 #include "World/WeatherLib.h"
 #include "core_sim/clock.hpp"
+#include "Sensors/UnrealCamera.h"
 
 namespace projectairsim = microsoft::projectairsim;
 
@@ -606,7 +607,6 @@ bool AUnrealScene::GetSimBoundingBox3D(
 
 nlohmann::json AUnrealScene::Get3DBoundingBoxServiceMethod(
     const std::string& object_name, int box_alignment) {
-  FRotator BoxRotation;
   FOrientedBox OrientedBox;
   projectairsim::BBox3D OutBBox;
   auto BoxAlignment =
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.h b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.h
index eed03143..d39a6ba1 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.h
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealScene.h
@@ -114,7 +114,7 @@ class AUnrealScene : public AActor {
   TimeNano unreal_time;
   bool using_unreal_physics;
 
-  std::unique_ptr<WorldSimApi> world_api;
+  std::unique_ptr<class WorldSimApi> world_api;
   std::shared_ptr<TimeOfDay> time_of_day;
   std::vector<std::string> objects_;
 
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealSimLoader.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealSimLoader.cpp
index 0ad674da..3bd6d2d0 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealSimLoader.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/UnrealSimLoader.cpp
@@ -14,6 +14,7 @@
 #include "UnrealLogger.h"
 #include "UnrealScene.h"
 #include "simserver.hpp"
+#include "Constant.h"
 
 #ifdef ENABLE_CESIUM
 #include "Cesium3DTileset.h"
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/World/WorldSimApi.cpp b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/World/WorldSimApi.cpp
index 2fa4ec2b..27a6f760 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/World/WorldSimApi.cpp
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/World/WorldSimApi.cpp
@@ -12,6 +12,8 @@
 #include "assimp/postprocess.h"
 #include "assimp/scene.h"
 #include "core_sim/actor/env_actor.hpp"
+#include "assimp/Importer.hpp"
+#include "core_sim/geodetic_converter.hpp"
 
 namespace projectairsim = microsoft::projectairsim;
 
@@ -1243,7 +1245,7 @@ std::vector<std::string> WorldSimApi::swapTextures(const std::string& tag,
           }
 
           if (invalidChoice) continue;
-          dynamic_cast<ATextureShuffleActor*>(shuffler)->SwapTexture(
+          Cast<ATextureShuffleActor>(shuffler)->SwapTexture(
               tex_id, component_id, material_id);
           swappedObjectNames.push_back(TCHAR_TO_UTF8(*shuffler->GetName()));
         }
diff --git a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/ProjectAirSim.Build.cs b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/ProjectAirSim.Build.cs
index 4db4fca4..43d1f49d 100644
--- a/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/ProjectAirSim.Build.cs
+++ b/unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/ProjectAirSim.Build.cs
@@ -8,9 +8,7 @@ public class ProjectAirSim : ModuleRules
 {
     public ProjectAirSim(ReadOnlyTargetRules Target) : base(Target)
     {
-        CppStandard = CppStandardVersion.Cpp17;
         PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
-        PrivatePCHHeaderFile = "Public/ProjectAirSim.h";
 
         // Allow Unreal's default setting for IWYU instead of setting explicitly
         // bEnforceIWYU = true;  // UE <= 5.1
@@ -18,8 +16,6 @@ public ProjectAirSim(ReadOnlyTargetRules Target) : base(Target)
 
         bEnableExceptions = true;
 
-        // Silence MSVC 14.25.28610 deprecation warning from Eigen
-        PublicDefinitions.Add("_SILENCE_CXX17_RESULT_OF_DEPRECATION_WARNING");
 
         string buildType = (Target.Configuration == UnrealTargetConfiguration.Debug ||
                             Target.Configuration == UnrealTargetConfiguration.DebugGame)
@@ -44,7 +40,6 @@ public ProjectAirSim(ReadOnlyTargetRules Target) : base(Target)
         if (Target.Platform == UnrealTargetPlatform.Win64)
         {
             List<string> liststrIncludes = new List<string> {
-                    ModuleDirectory + "/Private",
                     PluginDirectory + "/SimLibs/core_sim/include",
                     PluginDirectory + "/SimLibs/simserver/include",
                     PluginDirectory + "/SimLibs/physics/include",
@@ -62,6 +57,7 @@ public ProjectAirSim(ReadOnlyTargetRules Target) : base(Target)
 
             if (buildType == "Debug")
                 liststrIncludes.Add(PluginDirectory + "/SimLibs/lvmon/include");
+            liststrIncludes.Add(Path.Combine(GetModuleDirectory("Renderer"), "Internal"));
 
             PrivateIncludePaths.AddRange(liststrIncludes);
         }
diff --git a/unreal/Blocks/Source/Blocks.Target.cs b/unreal/Blocks/Source/Blocks.Target.cs
index 79a596dc..990cd7de 100644
--- a/unreal/Blocks/Source/Blocks.Target.cs
+++ b/unreal/Blocks/Source/Blocks.Target.cs
@@ -8,7 +8,7 @@ public class BlocksTarget : TargetRules
 	public BlocksTarget(TargetInfo Target) : base(Target)
 	{
 		Type = TargetType.Game;
-		DefaultBuildSettings = BuildSettingsVersion.V2;
+		DefaultBuildSettings = BuildSettingsVersion.Latest;
 		IncludeOrderVersion = EngineIncludeOrderVersion.Latest;  // from UE5.1
 		ExtraModuleNames.AddRange(new string[] { "Blocks" });
 
diff --git a/unreal/Blocks/Source/BlocksEditor.Target.cs b/unreal/Blocks/Source/BlocksEditor.Target.cs
index b1b3e6c7..49921cc9 100644
--- a/unreal/Blocks/Source/BlocksEditor.Target.cs
+++ b/unreal/Blocks/Source/BlocksEditor.Target.cs
@@ -8,7 +8,7 @@ public class BlocksEditorTarget : TargetRules
 	public BlocksEditorTarget(TargetInfo Target) : base(Target)
 	{
 		Type = TargetType.Editor;
-		DefaultBuildSettings = BuildSettingsVersion.V2;
+		DefaultBuildSettings = BuildSettingsVersion.Latest;
 		IncludeOrderVersion = EngineIncludeOrderVersion.Latest;  // from UE5.1
 		ExtraModuleNames.AddRange(new string[] { "Blocks" });