diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 81793e293..512230a95 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,6 +1,6 @@
 {
     "name": "control libraries",
-    "remoteUser": "developer",
+    "containerUser": "ubuntu",
     "build": {
         "dockerfile": "../Dockerfile",
         "context": "..",
diff --git a/CHANGELOG.md b/CHANGELOG.md
index e14b74a40..b5a7a4da6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 Release Versions
 
+- [9.0.0](#900)
 - [8.1.0](#810)
 - [8.0.0](#800)
 - [7.4.0](#740)
@@ -14,6 +15,11 @@ Release Versions
 - [6.3.0](#630)
 - [6.2.0](#620)
 
+## 9.0.0
+
+Version 9.0.0 is a new major version of control libraries that is built on Ubuntu 24.04 with Python 3.12. It does not
+contain any new features or fixes compared to version 8.1.0.
+
 ## 8.1.0
 
 Version 8.1.0 adds a new module called `communication_interfaces` to the control libraries. This is a library for
diff --git a/Dockerfile b/Dockerfile
index cdf29561a..a2ef9d1e7 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_TAG=22.04
+ARG BASE_TAG=24.04
 FROM ubuntu:${BASE_TAG} as base
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -16,7 +16,7 @@ RUN apt-get update && apt-get install -y \
 RUN echo "Set disable_coredump false" >> /etc/sudo.conf
 
 # create the credentials to be able to pull private repos using ssh
-RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
+RUN mkdir -p /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 
 ARG CMAKE_BUILD_TYPE=Release
 
@@ -139,16 +139,9 @@ COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 
 FROM code as development
-# create and configure a new user
-ARG UID=1000
-ARG GID=1000
-ENV USER developer
-ENV HOME /home/${USER}
-
-RUN addgroup --gid ${GID} ${USER}
-RUN adduser --gecos "Remote User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
-RUN usermod -a -G dialout ${USER}
-RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
+
+RUN usermod -a -G dialout ubuntu
+RUN echo "ubuntu ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
 RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
 
 # Configure sshd server settings
@@ -205,7 +198,7 @@ RUN --mount=type=cache,target=/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=10
 RUN mv /tmp/python/local /tmp/python-usr
 
 FROM cpp-test as python-test
-RUN pip install pytest
+RUN pip install pytest --break-system-packages
 COPY --from=install /tmp/cl /usr
 COPY --from=python /tmp/python-usr /usr
 COPY ./python/test /test
@@ -216,7 +209,7 @@ ARG TARGETPLATFORM
 ARG CACHEID
 COPY --from=install /tmp/cl /usr
 COPY --from=python /tmp/python-usr /usr
-RUN pip install pybind11-stubgen
+RUN pip install pybind11-stubgen --break-system-packages
 RUN --mount=type=cache,target=/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
 for PKG in state_representation dynamical_systems robot_model controllers clproto; do
diff --git a/VERSION b/VERSION
index 8104cabd3..f7ee06693 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-8.1.0
+9.0.0
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 12fb305e9..40d353fc8 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 8.1.0 CONFIG REQUIRED)
+find_package(control_libraries 9.0.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index 1d8e4774c..50a6d50c9 100644
--- a/doxygen/doxygen.conf
+++ b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 8.1.0
+PROJECT_NUMBER = 9.0.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
index 27decb009..acddec963 100644
--- a/protocol/clproto_cpp/CMakeLists.txt
+++ b/protocol/clproto_cpp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 8.1.0)
+project(clproto VERSION 9.0.0)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/python/setup.py b/python/setup.py
index bd6acdc9d..7278a39c8 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "8.1.0"
+__version__ = "9.0.0"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model', 'communication_interfaces']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index baee09fe2..d94395f37 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 8.1.0)
+project(control_libraries VERSION 9.0.0)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)