Worked on integrating MAC-VO2 dense mapping mode into the castacks/AirStack repository, focusing on enhancing mapping fidelity for production-like environments. The approach involved introducing the MAC-VO2 codebase, updating environment variables, and configuring Git submodules to ensure seamless integration. Visualization pipelines were updated in RViz, and the rerun-sdk was extended to support the new dense mapping capabilities within the MAC-VO system. Leveraged Python and Shell scripting alongside Docker and ROS2 to enable reproducible builds and robust deployment. The work emphasized aligning the codebase for advanced computer vision tasks in robotics, delivering a feature-rich mapping solution without addressing bug fixes.