diff --git a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
index bf730242..256d8d01 100644
--- a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
+++ b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
@@ -419,22 +419,19 @@ class RadioBridgeNode : public rclcpp::Node
 
     HelloRequest hello_data = std::get<HelloRequest>(data_variant);
 
-    // Commented out until firmware implements git hash populating
-
-    // const uint32_t incoming_coms_hash = hello_data.coms_hash[0] | (hello_data.coms_hash[1] << 8) |
-    //   (hello_data.coms_hash[2] << 16) | (hello_data.coms_hash[3] << 24);
-    // if (incoming_coms_hash != ateam_radio_msgs::kComsHash) {
-    //   RCLCPP_WARN(get_logger(), "Ignoring discovery packet. Packet version hash mismatch.");
-    //   return;
-    // }
-
-    // if (ateam_radio_msgs::kComsDirty) {
-    //   RCLCPP_WARN(get_logger(), "Local packet version is dirty. Compatibility check may be unreliable.");
-    // }
-
-    // if (hello_data.coms_repo_dirty) {
-    //   RCLCPP_WARN(get_logger(), "Remote robot's packet version is dirty. Compatibility check may be unreliable.");
-    // }
+    const uint32_t incoming_coms_hash = hello_data.coms_hash[0] << 24 | hello_data.coms_hash[1] << 16 | hello_data.coms_hash[2] << 8 | hello_data.coms_hash[3];
+    if (incoming_coms_hash != ateam_radio_msgs::kComsHash) {
+      RCLCPP_WARN(get_logger(), "Ignoring discovery packet. Packet version hash mismatch. Robot: %x  Local: %x", incoming_coms_hash, ateam_radio_msgs::kComsHash);
+      return;
+    }
+
+    if (ateam_radio_msgs::kComsDirty) {
+      RCLCPP_WARN(get_logger(), "Local packet version is dirty. Compatibility check may be unreliable.");
+    }
+
+    if (hello_data.coms_repo_dirty) {
+      RCLCPP_WARN(get_logger(), "Remote robot's packet version is dirty. Compatibility check may be unreliable.");
+    }
 
     if (!(game_controller_listener_.GetTeamColor() == ateam_common::TeamColor::Blue &&
       hello_data.color == TC_BLUE) &&
diff --git a/radio/ateam_radio_bridge/test/launch_tests/bridge_command_test.py b/radio/ateam_radio_bridge/test/launch_tests/bridge_command_test.py
index ef3760d0..069d6001 100644
--- a/radio/ateam_radio_bridge/test/launch_tests/bridge_command_test.py
+++ b/radio/ateam_radio_bridge/test/launch_tests/bridge_command_test.py
@@ -107,6 +107,7 @@ def test_2_vision_updates(self):
         vis_msg.pose.orientation.y = 0.0
         vis_msg.pose.orientation.z = 0.707
         vis_msg.pose.orientation.w = 0.707
+        vis_msg.visible = True
         self.vis_pub.publish(vis_msg)
 
         timeout = time.time() + 1
@@ -118,10 +119,12 @@ def test_2_vision_updates(self):
             self.vis_pub.publish(vis_msg)
             last_packet = self.robot.getLastCmdMessage()
             if len(last_packet) != 64:
+                print(f'unexpected packet length: {len(last_packet)}')
                 continue
             # Extract vision updates
             vision_update_flag = struct.unpack("<B", last_packet[8:9])[0]
             if vision_update_flag & (1 << 6) == 0:
+                print(f'vision flag is 0')
                 continue
             vision_x, vision_y, vision_yaw = struct.unpack("<fff", last_packet[12:24])
             if (
@@ -131,6 +134,8 @@ def test_2_vision_updates(self):
             ):
                 # Pass the test
                 return
+            else:
+                print(f'Values wrong:  x: {vision_x}  y: {vision_y}  t: {vision_yaw}')
 
 @launch_testing.post_shutdown_test()
 class TestProcessExit(unittest.TestCase):
diff --git a/radio/ateam_radio_bridge/test/launch_tests/version_helpers.py b/radio/ateam_radio_bridge/test/launch_tests/version_helpers.py
index d47e92e1..16d098ea 100644
--- a/radio/ateam_radio_bridge/test/launch_tests/version_helpers.py
+++ b/radio/ateam_radio_bridge/test/launch_tests/version_helpers.py
@@ -32,7 +32,8 @@ def find_constant_value(symbol_name):
 
 def get_coms_submodule_hash():
     """Get the current commit hash of the software communication submodule."""
-    return int(find_constant_value("kComsHash"))
+    hash_raw = int(find_constant_value("kComsHash"))
+    return int.from_bytes(hash_raw.to_bytes(4, byteorder='little'), byteorder='big')
 
 def get_coms_submodule_dirty():
     """Check if the software communication submodule has uncommitted changes."""
diff --git a/radio/ateam_radio_msgs/cmake/generate_conversion_code.cmake b/radio/ateam_radio_msgs/cmake/generate_conversion_code.cmake
index 7fe37fea..f721b549 100644
--- a/radio/ateam_radio_msgs/cmake/generate_conversion_code.cmake
+++ b/radio/ateam_radio_msgs/cmake/generate_conversion_code.cmake
@@ -19,6 +19,8 @@
 # THE SOFTWARE.
 
 function(generate_conversion_code)
+  message(STATUS "Generating conversion code...")
+
   set(oneValueArgs SOURCE DESTINATION)
   set(multiValueArgs STRUCTS)
   cmake_parse_arguments(PARSE_ARGV 0 arg "" "${oneValueArgs}" "${multiValueArgs}")
@@ -53,4 +55,8 @@ function(generate_conversion_code)
   if(result)
     message(FATAL_ERROR "Failed to generate conversion code: ${error}")
   endif()
+
+  cmake_path(GET arg_SOURCE PARENT_PATH _header_dir)
+  file(GLOB _source_files "${_header_dir}/**/*")
+  set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${_source_files})
 endfunction()
diff --git a/radio/ateam_radio_msgs/cmake/generate_msgs.cmake b/radio/ateam_radio_msgs/cmake/generate_msgs.cmake
index 67aa2a0d..71f2ddb9 100644
--- a/radio/ateam_radio_msgs/cmake/generate_msgs.cmake
+++ b/radio/ateam_radio_msgs/cmake/generate_msgs.cmake
@@ -19,6 +19,8 @@
 # THE SOFTWARE.
 
 function(generate_msgs)
+  message(STATUS "Generating ROS message types...")
+
   set(oneValueArgs SOURCE DESTINATION)
   set(multiValueArgs STRUCTS)
   cmake_parse_arguments(PARSE_ARGV 0 arg "" "${oneValueArgs}" "${multiValueArgs}")
@@ -50,4 +52,8 @@ function(generate_msgs)
   if(result)
     message(FATAL_ERROR "Failed to generate messages: ${error}")
   endif()
+
+  cmake_path(GET arg_SOURCE PARENT_PATH _header_dir)
+  file(GLOB _source_files "${_header_dir}/**/*")
+  set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${_source_files})
 endfunction()
diff --git a/radio/ateam_radio_msgs/cmake/generate_version_header.cmake b/radio/ateam_radio_msgs/cmake/generate_version_header.cmake
index ff246e6c..2c8d7622 100644
--- a/radio/ateam_radio_msgs/cmake/generate_version_header.cmake
+++ b/radio/ateam_radio_msgs/cmake/generate_version_header.cmake
@@ -20,6 +20,8 @@
 
 
 function(generate_version_header)
+  message(STATUS "Generating version header...")
+
   set(SOFT_COMS_SUBMODULE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/software-communication")
 
   find_package(Git REQUIRED)
@@ -55,4 +57,7 @@ function(generate_version_header)
     @ONLY
   )
 
+  file(GLOB submodule_files "${SOFT_COMS_SUBMODULE_DIR}/**/*")
+  set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${submodule_files})
+
 endfunction()