diff --git a/photon-lib/py/photonlibpy/photonCamera.py b/photon-lib/py/photonlibpy/photonCamera.py
index b5bb659e8..e8102f699 100644
--- a/photon-lib/py/photonlibpy/photonCamera.py
+++ b/photon-lib/py/photonlibpy/photonCamera.py
@@ -53,7 +53,9 @@ class PhotonCamera:
         self._cameraTable = photonvision_root_table.getSubTable(cameraName)
         self._path = self._cameraTable.getPath()
         self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
-            "rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
+            f"photonstruct:PhotonPipelineResult:{PhotonPipelineResult.photonStruct.MESSAGE_VERSION}",
+            bytes([]),
+            ntcore.PubSubOptions(periodic=0.01, sendAll=True),
         )
 
         self._driverModePublisher = self._cameraTable.getBooleanTopic(
@@ -226,6 +228,7 @@ class PhotonCamera:
 
         versionString = self.versionEntry.get(defaultValue="")
         localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
+
         remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
 
         if remoteUUID is None or len(remoteUUID) == 0:
@@ -233,7 +236,11 @@ class PhotonCamera:
                 f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
                 True,
             )
-        elif localUUID != remoteUUID:
+
+        # ntcore hands us a JSON string with leading/trailing quotes - remove those
+        remoteUUID = remoteUUID.replace('"', "")
+
+        if localUUID != remoteUUID:
             # Verified version mismatch
 
             bfw = """
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
index 633cf5fcb..8a6035d52 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -137,7 +137,7 @@ public class PhotonCamera implements AutoCloseable {
                 cameraTable
                         .getRawTopic("rawBytes")
                         .subscribe(
-                                "rawBytes",
+                                PhotonPipelineResult.photonStruct.getTypeString(),
                                 new byte[] {},
                                 PubSubOption.periodic(0.01),
                                 PubSubOption.sendAll(true),
@@ -185,6 +185,8 @@ public class PhotonCamera implements AutoCloseable {
      * make sure to call this frequently enough to avoid old results being discarded, too!
      */
     public List<PhotonPipelineResult> getAllUnreadResults() {
+        verifyVersion();
+
         List<PhotonPipelineResult> ret = new ArrayList<>();
 
         var changes = resultSubscriber.getAllChanges();
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
index 34905a382..91a1d9514 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -69,6 +69,10 @@ void PhotonCamera::SetVersionCheckEnabled(bool enabled) {
   VERSION_CHECK_ENABLED = enabled;
 }
 
+static const std::string TYPE_STRING =
+    std::string{"photonstruct:PhotonPipelineResult:"} +
+    std::string{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
+
 PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
                            const std::string_view cameraName)
     : mainTable(instance.GetTable("photonvision")),
@@ -76,7 +80,7 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       rawBytesEntry(
           rootTable->GetRawTopic("rawBytes")
               .Subscribe(
-                  "rawBytes", {},
+                  TYPE_STRING, {},
                   {.pollStorage = 20, .periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
@@ -262,17 +266,25 @@ void PhotonCamera::VerifyVersion() {
 
       std::string cameraNameOutString;
       for (unsigned int i = 0; i < cameraNames.size(); i++) {
-        cameraNameOutString += "\n" + cameraNames[i];
+        cameraNameOutString += ("\n" + cameraNames[i]);
       }
       FRC_ReportError(
           frc::warn::Warning,
-          "Found the following PhotonVision cameras on NetworkTables:{}",
+          "Found the following PhotonVision cameras on NetworkTables:\n{}",
           cameraNameOutString);
     }
   } else {
     std::string local_uuid{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
-    std::string remote_uuid =
+
+    // implicit conversion here might throw an exception, so be careful of that
+    wpi::json remote_uuid_json =
         rawBytesEntry.GetTopic().GetProperty("message_uuid");
+    if (!remote_uuid_json.is_string()) {
+      FRC_ReportError(frc::warn::Warning,
+                      "Cannot find property message_uuid for PhotonCamera {}",
+                      path);
+    }
+    std::string remote_uuid{remote_uuid_json};
 
     if (local_uuid != remote_uuid) {
       FRC_ReportError(frc::warn::Warning, bfw);
diff --git a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
index 94c31f0f4..c8da8306b 100644
--- a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
+++ b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
@@ -353,8 +353,7 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
     ts.targetPitchEntry.Set(0.0, ReceiveTimestamp);
     ts.targetYawEntry.Set(0.0, ReceiveTimestamp);
     ts.targetAreaEntry.Set(0.0, ReceiveTimestamp);
-    std::array<double, 3> poseData{0.0, 0.0, 0.0};
-    ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
+    ts.targetPoseEntry.Set(frc::Transform3d{}, ReceiveTimestamp);
     ts.targetSkewEntry.Set(0.0, ReceiveTimestamp);
   } else {
     PhotonTrackedTarget bestTarget = result.GetBestTarget();
@@ -364,11 +363,8 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
     ts.targetAreaEntry.Set(bestTarget.GetArea(), ReceiveTimestamp);
     ts.targetSkewEntry.Set(bestTarget.GetSkew(), ReceiveTimestamp);
 
-    frc::Transform3d transform = bestTarget.GetBestCameraToTarget();
-    std::array<double, 4> poseData{
-        transform.X().to<double>(), transform.Y().to<double>(),
-        transform.Rotation().ToRotation2d().Degrees().to<double>()};
-    ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
+    ts.targetPoseEntry.Set(bestTarget.GetBestCameraToTarget(),
+                           ReceiveTimestamp);
   }
 
   Eigen::Matrix<double, 3, 3, Eigen::RowMajor> intrinsics =
diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java
index aca8c4d92..9a045d5b7 100644
--- a/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java
@@ -88,7 +88,9 @@ public class PacketSubscriber<T> implements AutoCloseable {
 
     // TODO - i can see an argument for moving this logic all here instead of keeping in photoncamera
     public String getInterfaceUUID() {
-        return subscriber.getTopic().getProperty("message_uuid");
+        // ntcore hands us a JSON string with leading/trailing quotes - remove those
+        var uuidStr = subscriber.getTopic().getProperty("message_uuid");
+        return uuidStr.replace("\"", "");
     }
 
     public List<PacketResult<T>> getAllChanges() {
diff --git a/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h b/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h
index ff647cd7c..e3f79a91e 100644
--- a/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h
+++ b/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h
@@ -18,15 +18,22 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
+#include <frc/geometry/Transform3d.h>
 #include <networktables/BooleanTopic.h>
 #include <networktables/DoubleArrayTopic.h>
 #include <networktables/DoubleTopic.h>
 #include <networktables/IntegerTopic.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/RawTopic.h>
+#include <networktables/StructTopic.h>
 
 namespace photon {
+const std::string PhotonPipelineResult_TYPE_STRING =
+    std::string{"photonstruct:PhotonPipelineResult:"} +
+    std::string{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
+
 class NTTopicSet {
  public:
   std::shared_ptr<nt::NetworkTable> subTable;
@@ -44,7 +51,7 @@ class NTTopicSet {
   nt::DoublePublisher targetPitchEntry;
   nt::DoublePublisher targetYawEntry;
   nt::DoublePublisher targetAreaEntry;
-  nt::DoubleArrayPublisher targetPoseEntry;
+  nt::StructPublisher<frc::Transform3d> targetPoseEntry;
   nt::DoublePublisher targetSkewEntry;
 
   nt::DoublePublisher bestTargetPosX;
@@ -60,8 +67,8 @@ class NTTopicSet {
     nt::PubSubOptions options;
     options.periodic = 0.01;
     options.sendAll = true;
-    rawBytesEntry =
-        subTable->GetRawTopic("rawBytes").Publish("rawBytes", options);
+    rawBytesEntry = subTable->GetRawTopic("rawBytes")
+                        .Publish(PhotonPipelineResult_TYPE_STRING, options);
 
     pipelineIndexPublisher =
         subTable->GetIntegerTopic("pipelineIndexState").Publish();
@@ -80,7 +87,8 @@ class NTTopicSet {
     targetPitchEntry = subTable->GetDoubleTopic("targetPitch").Publish();
     targetAreaEntry = subTable->GetDoubleTopic("targetArea").Publish();
     targetYawEntry = subTable->GetDoubleTopic("targetYaw").Publish();
-    targetPoseEntry = subTable->GetDoubleArrayTopic("targetPose").Publish();
+    targetPoseEntry =
+        subTable->GetStructTopic<frc::Transform3d>("targetPose").Publish();
     targetSkewEntry = subTable->GetDoubleTopic("targetSkew").Publish();
 
     bestTargetPosX = subTable->GetDoubleTopic("targetPixelsX").Publish();
diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle
index 28dc34bca..9a885f3e8 100644
--- a/photonlib-java-examples/aimandrange/build.gradle
+++ b/photonlib-java-examples/aimandrange/build.gradle
@@ -10,6 +10,10 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+repositories {
+    mavenLocal();
+}
+
 wpi.maven.useDevelopment = true
 wpi.versions.wpilibVersion = "2024.3.2"
 wpi.versions.wpimathVersion = "2024.3.2"