diff --git a/dot/bashrc b/dot/bashrc
index 70aa895..13c5ce6 100644
--- a/dot/bashrc
+++ b/dot/bashrc
@@ -15,23 +15,23 @@ if [ -d ~/android-studio ]; then
 fi
 
 # Marben ASN.1 compiler
-if [ -d /opt/marben/asnsdk ]; then
+if [ -d /opt/marben/asnsdk/TCE-C_V61/Compiler ]; then
   export ASNSDK_TCE_DIR=/opt/marben/asnsdk/TCE-C_V61/Compiler
-  export PATH=$ASNSDK_TCE_DIR/bin:$PATH
+  export PATH=$PATH:$ASNSDK_TCE_DIR/bin
 fi
 
 # ROS 1
 if [ -f /opt/ros/noetic/setup.bash ]; then
-  # 20.04/22.04
+  # 20.04
   source /opt/ros/noetic/setup.bash
   export PYTHONPATH=$PYTHONPATH:$HOME/catkin_ws/devel/lib/python3/dist-packages
 fi
 
 # ROS 2
-#if [ -f /opt/ros/foxy/setup.bash ]; then
-  # 20.04/22.04
-#  source /opt/ros/foxy/setup.bash
-#fi
+if [ -f /opt/ros/humble/setup.bash ]; then
+  # 22.04
+  source /opt/ros/humble/setup.bash
+fi
 
 # ProbeStar C/C++ library
 if [ -d /usr/local/cnomicon ]; then
@@ -56,3 +56,15 @@ fi
 if [ -d $HOME/anaconda3 ]; then
   export PATH=$PATH:$HOME/anaconda3/bin
 fi
+
+# CARMA
+if [ -d /usr/share/vcstool-completion ]; then
+  source /usr/share/vcstool-completion/vcs.bash
+fi
+
+parse_git_branch() {
+     git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/ (\1)/'
+}
+
+# Add git branch and timestamp to bash commands
+#export PS1="\t \033[01;32m\]\u@\h:\[\033[34m\]\w\[\033[33m\]\$(parse_git_branch)\[\033[00m\]$ "