diff --git a/docs/02_roadmap.md b/docs/02_roadmap.md
index 410b1b5f..f1921e5b 100644
--- a/docs/02_roadmap.md
+++ b/docs/02_roadmap.md
@@ -22,21 +22,37 @@
     - For GL on macos add /opt/X11/lib to path in the toolchain
     - Version 130 opengl not supported. Follow the imgui example to set up implot example
 
-## Phase 4 - Multimodel data logging and visualisation - audio, video, 3D graphics
+## Phase 3 - Multimodel data logging and visualisation - audio, video, 3D graphics
 
 - Audio/Video streaming:
   - Choose backend for audio/video device handling and stream processing
   - Implement basic examples for AV capture, streaming and display
-
+- zenoh video capture/display: https://github.com/eclipse-zenoh/zenoh-demos/tree/master/computer-vision/zcam
 - HW accelerated 3D graphics
   - Select scene description format: [USD](https://developer.nvidia.com/usd#nvidia), ??
   - Select a rendering backend: vsg, ogre, raylib, something else
   - Implement a basic scenegraph example and check performance in MacOS and Linux VM
   - Implement scenegraph in our scripting language and have it render by the backend
 
-## Phase 3 - CI
+## Phase 4 - Refactor
+
+- Have a single place to maintain version numbers of all external dependencies
+  - Single versions file maybe
+  - Add version to find_package() calls within modules 
+- Refactor gbs template files to make it project agnostic
+  - Replace occurances of 'grape' with @CMAKE_PROJECT_NAME@ in all files
+- Refactor logging
+  - Consider using the `FIFOBuffer` for logs.
+  - Color console handler like in [Quill](https://github.com/odygrd/quill/blob/master/quill/src/handlers/ConsoleHandler.cpp)
+  - Study Quill to understand how to reduce overhead even more
+- Refactor thread class out of realtime and put it in 'grape'
+  - Insert logging to capture timer overruns in the loop
+- Study [SPSC FIFO](https://youtu.be/K3P_Lmq6pw0) and review [implementation](https://github.com/CharlesFrasch/cppcon2023)
+- Benchmark `FIFOBuffer` against [SPSC fifo](https://github.com/CharlesFrasch/cppcon2023) and improve performance where possible
+- `reinterpret_cast<uintptr_t>` from `const T*` and then modifying it later is undefined behaviour. Fix `probe::PinConfig::pin`. Consider `std::start_lifetime_as` instead.
+
+## Phase 5 - CI
 
-- Sign up for [game engine](https://pikuma.com/courses/cpp-2d-game-engine-development) course
 - Setup configuration presets for developer and CI builds
   - Incorporate lessons from https://youtu.be/UI_QayAb9U0
   - Fail the CI if clang-format changes code
@@ -46,8 +62,9 @@
 - study
   - [boost-ext/reflect](https://github.com/boost-ext/reflect)
   - [reflect-cpp](https://github.com/getml/reflect-cpp)
+- Implement CI build using github workflow  
 - Integrate cpack to generate artifacts 
-- Integrate cmake-format
+- Integrate [ninjatracing](https://github.com/nico/ninjatracing)
 - Review all negated checks in `.clang-tidy`
 
 ## Phase 6 - Robotics behaviours
@@ -75,11 +92,11 @@
   - Case 2: pub-peer + router on PC1, sub-peer + router on PC2, router on PC3, multicast scouting off. Confirm data transfer from PC1 to PC2, no data transfer through PC3.
   - Case 3: Extend case2 by adding a PC4 with router and sub-client. Confirm sub-client on PC4 receives data from pub-peer on PC1.
 
-## Phase 6 - Demo application - Rover
+## Phase 7 - Demo application - Rover
 
 - Mars Rover (joystick teleop, FPV, mission control)
 
-## Phase 7 - Utilities
+## Phase 8 - Utilities
 
 - serdes
   - Choose backend: low overhead, type-safe, fast, no external dependencies, supports C++ and Python
@@ -89,7 +106,6 @@
 - md5sum
 - factory using crtp (see scratch)
 - [ftxui](https://github.com/ArthurSonzogni/FTXUI) based terminal UI apps
-- Redesign ProgramOptions with [monadic interface](https://youtu.be/kZ8rbhGgtv4)
 - Consider integrating mp_uints library
 
 ## Notes