diff --git a/qt6-after/qt6-migrated-legatus/Lts/Common/CodeGen/svc_dtc_impl.cpp.grantlee b/qt6-after/qt6-migrated-legatus/Lts/Common/CodeGen/svc_dtc_impl.cpp.grantlee
index 7013a2436..b18916757 100755
--- a/qt6-after/qt6-migrated-legatus/Lts/Common/CodeGen/svc_dtc_impl.cpp.grantlee
+++ b/qt6-after/qt6-migrated-legatus/Lts/Common/CodeGen/svc_dtc_impl.cpp.grantlee
@@ -15,6 +15,7 @@
 {% endif %}
 #include <NGLLogger/INGLLogger.h>
 #include <DDS/DTC/generic_dtc_impl.h>
+#include <DDS/Core/logger.h>
 #include <dds/core/cond/StatusCondition.hpp>
 #include <dds/core/cond/WaitSet.hpp>
 #include <unordered_map>
@@ -22,6 +23,7 @@
 #include <QThread>
 
 using namespace NGL;
+using namespace Core;
 
 namespace {{ namespace }}
 {
@@ -61,7 +63,7 @@ std::shared_ptr<Dtc> Dtc::create(const std::shared_ptr<DDSConnector::DdsConnecto
 DtcImpl::DtcImpl(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
   : Dtc()
   , m_ddsConnector(ddsConnector)
-  , m_logger(&ProjectDataManagement::getLogger("Dtc"))
+  , m_logger(&getLogger("Dtc"))
 {}
 
 DtcImpl::~DtcImpl()
diff --git a/qt6-after/qt6-migrated-legatus/Lts/DDS/DTC/generic_dtc.h b/qt6-after/qt6-migrated-legatus/Lts/DDS/DTC/generic_dtc.h
index 29c9f0ed8..f60953324 100644
--- a/qt6-after/qt6-migrated-legatus/Lts/DDS/DTC/generic_dtc.h
+++ b/qt6-after/qt6-migrated-legatus/Lts/DDS/DTC/generic_dtc.h
@@ -30,8 +30,11 @@ template <typename DRO_OBJECT, typename SC> class GenericDtcSC
 
     virtual bool setSubscriberCallback(const SubscriberCallback& subscriberCallback) = 0;
     virtual dds::sub::LoanedSamples<TopicType> readAlive() const = 0;
+    virtual bool readAlive(TopicType& data) = 0;
     virtual dds::sub::LoanedSamples<TopicType> takeAlive() const = 0;
+    virtual bool takeAlive(TopicType& data) = 0;
     virtual dds::sub::LoanedSamples<TopicType> takeDisposed() const = 0;
+    virtual bool takeDisposed(TopicType& data) = 0;
     virtual bool hasSamples() const = 0;
     virtual DataReaderObject* dataReader() const = 0;
     virtual bool waitForHistoricalData(int timeoutMSec) = 0;
@@ -46,7 +49,11 @@ class GenericDtc
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
-    void setSubscriberCallback(std::function<void(const TopicType&, DataModification)> callback) { BaseClass::setSubscriberCallback(callback); }
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
+    using BaseClass::SubscriberCallback;
+    bool setSubscriberCallback(const typename BaseClass::SubscriberCallback& callback) override { return BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
     bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
@@ -65,7 +72,11 @@ class GenericDtcSampleInfo
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
-    void setSubscriberCallback(std::function<void(const TopicType&, const dds::sub::SampleInfo&)> callback) { BaseClass::setSubscriberCallback(callback); }
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
+    using BaseClass::SubscriberCallback;
+    bool setSubscriberCallback(const typename BaseClass::SubscriberCallback& callback) override { return BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
     bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
@@ -84,7 +95,11 @@ class Ddtc
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
-    void setSubscriberCallback(std::function<void(const TopicType&, const std::string&, DataModification)> callback) { BaseClass::setSubscriberCallback(callback); }
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
+    using BaseClass::SubscriberCallback;
+    bool setSubscriberCallback(const typename BaseClass::SubscriberCallback& callback) override { return BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
     bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
@@ -103,7 +118,11 @@ class DdtcSampleInfo
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
-    void setSubscriberCallback(std::function<void(const TopicType&, const std::string&, const dds::sub::SampleInfo&)> callback) { BaseClass::setSubscriberCallback(callback); }
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
+    using BaseClass::SubscriberCallback;
+    bool setSubscriberCallback(const typename BaseClass::SubscriberCallback& callback) override { return BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
     bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
diff --git a/qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/connext.h b/qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/connext.h
index f0e2372a0..1b46b1ccc 100644
--- a/qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/connext.h
+++ b/qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/connext.h
@@ -12,7 +12,7 @@
 #include <QtCore/QByteArray>
 
 #include <NGLLogger/NGLLoggerBootstrap.h>
-#include "TrainingAreaBase/logger.h"
+#include "DDS/Core/logger.h"
 #include <dds/core/cond/GuardCondition.hpp>
 #include <dds/core/cond/StatusCondition.hpp>
 #include <dds/core/cond/WaitSet.hpp>
@@ -320,7 +320,7 @@ template <typename REQUEST, typename REPLY> class Requester final : public Reply
 
           m_contentFilteredTopic->filter(dds::topic::Filter(filterContent.data()));
       }
-      DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "content filter for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
+      DEBUG_LOG(Core::getLogger("connext")) << "content filter for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                           << " - related_sample_identity should be: " << writerGuid;
   }
 
@@ -353,7 +353,7 @@ template <typename REQUEST, typename REPLY> class Requester final : public Reply
       m_dataWriter->write(request.data(), request.info());
 
       const rti::core::SampleIdentity currentSampleIdentity = request.info().identity();
-      DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "send_request for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
+      DEBUG_LOG(Core::getLogger("connext")) << "send_request for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                           << ", m_currentSampleIdentity: " << DebugInfo::toReadable(currentSampleIdentity);
   }
 
@@ -370,13 +370,13 @@ template <typename REQUEST, typename REPLY> class Requester final : public Reply
 
           if (m_dataReader->take(reply.data(), reply.info()) && reply.info().valid())
           {
-              DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "receive_reply for topic "
+              DEBUG_LOG(Core::getLogger("connext")) << "receive_reply for topic "
                                   << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                                   << ", SampleIdentity - original publication virtual: "
                                   << DebugInfo::toReadable(
                                          reply.info()->original_publication_virtual_sample_identity());
 
-              DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "receive_reply for topic "
+              DEBUG_LOG(Core::getLogger("connext")) << "receive_reply for topic "
                                   << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                                   << ", SampleIdentity - related original: "
                                   << DebugInfo::toReadable(
@@ -389,7 +389,7 @@ template <typename REQUEST, typename REPLY> class Requester final : public Reply
           dds::core::cond::WaitSet::ConditionSeq activeConditionsSeq = waitset.wait(duration);
           if (activeConditionsSeq.empty())
           {
-              ERROR_LOG(::TrainingAreaBase::getLogger("connext")) << "Bailing out!";
+              ERROR_LOG(Core::getLogger("connext")) << "Bailing out!";
               break;
           }
       }
@@ -400,7 +400,7 @@ template <typename REQUEST, typename REPLY> class Requester final : public Reply
           if (!m_curInstanceHandle.is_nil())
           {
 
-              DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "Keyed topic - disposing instance: "
+              DEBUG_LOG(Core::getLogger("connext")) << "Keyed topic - disposing instance: "
                                   << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name();
               m_dataWriter.dispose_instance(m_curInstanceHandle);
           }
@@ -456,7 +456,7 @@ template <typename REQUEST, typename REPLY> class Replier final : public ReplyRe
   void send_reply(connext::WriteSampleRef<REPLY>& reply, const rti::core::SampleIdentity& identity,
                   bool bLastSample = true)
   {
-      DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "send_reply for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
+      DEBUG_LOG(Core::getLogger("connext")) << "send_reply for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                           << ", sampleIdentity: " << DebugInfo::toReadable(identity);
 
       rti::core::SampleFlag sf = reply.info().flag();
@@ -466,7 +466,7 @@ template <typename REQUEST, typename REPLY> class Replier final : public ReplyRe
           sf |= rti::core::SampleFlag::intermediate_reply_sequence();
       reply.info().flag(sf);
       reply.info().related_sample_identity(identity);
-      DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "send_reply for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
+      DEBUG_LOG(Core::getLogger("connext")) << "send_reply for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                           << ", related sampleIdentity: "
                           << DebugInfo::toReadable(reply.info().related_sample_identity());
 
@@ -480,7 +480,7 @@ template <typename REQUEST, typename REPLY> class Replier final : public ReplyRe
 
       if (request.info().valid())
       {
-          DEBUG_LOG(::TrainingAreaBase::getLogger("connext")) << "receive_request for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
+          DEBUG_LOG(Core::getLogger("connext")) << "receive_request for topic " << ReplyRequestBase<REQUEST, REPLY>::m_requestTopic.name()
                               << ", sampleIdentity publication_virtual_sample_identity: "
                               << DebugInfo::toReadable(request.info()->publication_virtual_sample_identity())
                               << ", original_publication_virtual_sample_identity: "
diff --git a/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc.h b/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc.h
index 29c9f0ed8..63eeb6ff3 100644
--- a/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc.h
+++ b/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc.h
@@ -30,8 +30,11 @@ template <typename DRO_OBJECT, typename SC> class GenericDtcSC
 
     virtual bool setSubscriberCallback(const SubscriberCallback& subscriberCallback) = 0;
     virtual dds::sub::LoanedSamples<TopicType> readAlive() const = 0;
+    virtual bool readAlive(TopicType& data) = 0;
     virtual dds::sub::LoanedSamples<TopicType> takeAlive() const = 0;
+    virtual bool takeAlive(TopicType& data) = 0;
     virtual dds::sub::LoanedSamples<TopicType> takeDisposed() const = 0;
+    virtual bool takeDisposed(TopicType& data) = 0;
     virtual bool hasSamples() const = 0;
     virtual DataReaderObject* dataReader() const = 0;
     virtual bool waitForHistoricalData(int timeoutMSec) = 0;
@@ -46,7 +49,11 @@ class GenericDtc
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
-    void setSubscriberCallback(std::function<void(const TopicType&, DataModification)> callback) { BaseClass::setSubscriberCallback(callback); }
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
+    using BaseClass::SubscriberCallback;
+    bool setSubscriberCallback(const typename BaseClass::SubscriberCallback& callback) override { return BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
     bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
@@ -65,6 +72,9 @@ class GenericDtcSampleInfo
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
     void setSubscriberCallback(std::function<void(const TopicType&, const dds::sub::SampleInfo&)> callback) { BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
@@ -84,6 +94,9 @@ class Ddtc
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
     void setSubscriberCallback(std::function<void(const TopicType&, const std::string&, DataModification)> callback) { BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
@@ -103,6 +116,9 @@ class DdtcSampleInfo
     using TopicType = typename BaseClass::TopicType;
     
     // Explicitly expose base class methods for accessibility through smart pointers
+    using BaseClass::readAlive;
+    using BaseClass::takeAlive;
+    using BaseClass::takeDisposed;
     void setSubscriberCallback(std::function<void(const TopicType&, const std::string&, const dds::sub::SampleInfo&)> callback) { BaseClass::setSubscriberCallback(callback); }
     bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
     bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
diff --git a/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc_impl.h b/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc_impl.h
index a7d5aaf4b..60b14a683 100755
--- a/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc_impl.h
+++ b/qt6-after/qt6-migrated-legatus/include/DDS/DTC/generic_dtc_impl.h
@@ -127,6 +127,17 @@ public:
     return ret;
   }
 
+  bool readAlive(TopicTypeRead& data) override final
+  {
+    auto samples = readAlive();
+    if (samples.length() > 0)
+    {
+      data = samples[0].data();
+      return true;
+    }
+    return false;
+  }
+
   dds::sub::LoanedSamples<TopicTypeRead> takeAlive() const override final
   {
     if (!m_dataReaderObject)
@@ -140,6 +151,17 @@ public:
     return ret;
   }
 
+  bool takeAlive(TopicTypeRead& data) override final
+  {
+    auto samples = takeAlive();
+    if (samples.length() > 0)
+    {
+      data = samples[0].data();
+      return true;
+    }
+    return false;
+  }
+
   dds::sub::LoanedSamples<TopicTypeRead> takeDisposed() const override final
   {
     if (!m_dataReaderObject)
@@ -148,6 +170,17 @@ public:
     return m_dataReaderObject->takeDisposed();
   }
 
+  bool takeDisposed(TopicTypeRead& data) override final
+  {
+    auto samples = takeDisposed();
+    if (samples.length() > 0)
+    {
+      data = samples[0].data();
+      return true;
+    }
+    return false;
+  }
+
   bool hasSamples() const override final
   {
     if (!m_dataReaderObject)
diff --git a/qt6-after/qt6-migrated-legatus/new_docker_build.sh b/qt6-after/qt6-migrated-legatus/new_docker_build.sh
index 357ddc4b5..8e2787619 100755
--- a/qt6-after/qt6-migrated-legatus/new_docker_build.sh
+++ b/qt6-after/qt6-migrated-legatus/new_docker_build.sh
@@ -208,6 +208,7 @@ APT_PACKAGES=(
   libvlc-dev
   vlc-plugin-base
   git
+  python3-pip
 )
 
 # INTERFACE libraries (header-only) are built automatically as dependencies
@@ -356,7 +357,7 @@ install_qt6_packages() {
   # Install aqtinstall if not available
   if ! command -v aqt &> /dev/null; then
     log_info "Installing aqtinstall via pip3"
-    pip3 install --quiet aqtinstall
+    pip3 install --break-system-packages --quiet aqtinstall
   fi
   
   # Install Qt6 modules (same as app/Dockerfile)
@@ -592,6 +593,27 @@ log_info() {
   printf 'INFO: %s\n' "$*"
 }
 
+install_qt6_packages() {
+  log_info "Installing Qt6 packages via aqtinstall"
+  
+  # Install aqtinstall if not available
+  if ! command -v aqt &> /dev/null; then
+    log_info "Installing aqtinstall via pip3"
+    pip3 install --break-system-packages --quiet aqtinstall
+  fi
+  
+  # Install Qt6 modules (same as app/Dockerfile)
+  # Modules: qtmultimedia, qtserialport, qtimageformats, qtwebsockets, qtwebengine, 
+  #          qtpdf, qtwebview, qt5compat, qtwebchannel, qtpositioning, qtlocation, qtsensors
+  # Note: qtsvg is NOT available via aqtinstall - it's provided by libqt6svg6-dev apt package
+  aqt install-qt linux desktop "${QT_VERSION:-6.10.2}" "${QT_ARCH:-linux_gcc_64}" \
+    -m qtmultimedia qtserialport qtimageformats qtwebsockets qtwebengine \
+       qtpdf qtwebview qt5compat qtwebchannel qtpositioning qtlocation qtsensors \
+    --outputdir "${QT_BASE_DIR:-/opt/Qt}"
+  
+  log_info "Qt6 packages installed successfully"
+}
+
 run_build_group() {
   local group_id="$1"
   local enabled="$2"