diff --git a/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt b/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt
index 47089e6138..bbe2c74505 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt
+++ b/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt
@@ -63,7 +63,7 @@ else ()
     )
 endif ()
 
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}  -lstdc++ -lpthread ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}  -lpthread ${Boost_LIBRARIES})
 
 
 
diff --git a/Unity/build.sh b/Unity/build.sh
index 5e0aa93845..a51314af86 100755
--- a/Unity/build.sh
+++ b/Unity/build.sh
@@ -18,11 +18,11 @@ fi
 
 cd linux-build
 if [ "$(uname)" == "Darwin" ]; then
-    export CC=/usr/local/opt/llvm@8/bin/clang
-    export CXX=/usr/local/opt/llvm@8/bin/clang++
+    export CC=/usr/local/opt/llvm@12/bin/clang
+    export CXX=/usr/local/opt/llvm@12/bin/clang++
 else
-    export CC="clang-8"
-    export CXX="clang++-8"
+    export CC="clang-12"
+    export CXX="clang++-12"
 fi
 
 # check for local cmake build created by setup.sh
diff --git a/build.sh b/build.sh
index 8b45d64ba1..9d9fb85cef 100755
--- a/build.sh
+++ b/build.sh
@@ -64,11 +64,11 @@ if [ "$(uname)" == "Darwin" ]; then
     export CXX="$(brew --prefix)/opt/llvm/bin/clang++"
 else
     if $gcc; then
-        export CC="gcc-8"
-        export CXX="g++-8"
+        export CC="gcc-12"
+        export CXX="g++-12"
     else
-        export CC="clang-8"
-        export CXX="clang++-8"
+        export CC="clang-12"
+        export CXX="clang++-12"
     fi
 fi
 
diff --git a/cmake/cmake-modules/CommonSetup.cmake b/cmake/cmake-modules/CommonSetup.cmake
index 11d0c9bcb2..f814b18fca 100644
--- a/cmake/cmake-modules/CommonSetup.cmake
+++ b/cmake/cmake-modules/CommonSetup.cmake
@@ -59,9 +59,9 @@ macro(CommonSetup)
             if (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
                 set(CMAKE_CXX_FLAGS "-stdlib=libc++ -Wno-documentation -Wno-unknown-warning-option ${CMAKE_CXX_FLAGS}")
                 find_package(LLVM REQUIRED CONFIG)
-                set(CXX_EXP_LIB "-L${LLVM_LIBRARY_DIRS} -lc++fs -ferror-limit=10")
+                set(CXX_EXP_LIB "-L${LLVM_LIBRARY_DIRS} -ferror-limit=10")
             else()
-                set(CXX_EXP_LIB "-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
+                set(CXX_EXP_LIB "-fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
             endif ()
         endif ()
 
diff --git a/ros/src/airsim_ros_pkgs/CMakeLists.txt b/ros/src/airsim_ros_pkgs/CMakeLists.txt
index 0acab7357d..3e80a04366 100644
--- a/ros/src/airsim_ros_pkgs/CMakeLists.txt
+++ b/ros/src/airsim_ros_pkgs/CMakeLists.txt
@@ -13,7 +13,7 @@ set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wpedantic -Wstrict-null-sentinel -Wno-unused
 set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs 
 -l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
 -lm -lc -lgcc_s -lgcc  
--lstdc++fs -fmax-errors=10")
+-fmax-errors=10")
 
 set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.3.0/include")
 set(RPC_LIB rpc) # name of .a file with lib prefix
diff --git a/ros2/src/airsim_ros_pkgs/CMakeLists.txt b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
index 6d961a430f..b2684f7cde 100644
--- a/ros2/src/airsim_ros_pkgs/CMakeLists.txt
+++ b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
@@ -34,7 +34,7 @@ set(CMAKE_CXX_FLAGS "-O3 -Wall -Wextra -Wnoexcept -Wstrict-null-sentinel")
 set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs 
 -l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
 -lm -lc -lgcc_s -lgcc
--lstdc++fs -fmax-errors=10")
+-fmax-errors=10")
 set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.3.0/include")
 set(RPC_LIB rpc)
 message(STATUS "found RPC_LIB_INCLUDES=${RPC_LIB_INCLUDES}")
diff --git a/setup.sh b/setup.sh
index fd0b71e203..fa597d9eb7 100755
--- a/setup.sh
+++ b/setup.sh
@@ -50,7 +50,9 @@ else #linux
         software-properties-common \
         wget \
         libvulkan1 \
-        vulkan-utils
+        vulkan-tools \
+        libunwind-dev \
+
 
     #install clang and build tools
     VERSION=$(lsb_release -rs | cut -d. -f1)
@@ -60,7 +62,7 @@ else #linux
         wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
         sudo apt-get update
     fi
-    sudo apt-get install -y clang-8 clang++-8 libc++-8-dev libc++abi-8-dev
+    sudo apt-get install -y clang-12 clang++-12 libc++-12-dev libc++abi-12-dev libstdc++-12-dev build-essential
 fi
 
 if ! which cmake; then