diff --git a/Dockerfile b/Dockerfile
index 74e3425..714772e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -54,6 +54,9 @@ RUN apt-get update \
     ros-${ROS_DISTR}-apriltag \
     ros-${ROS_DISTR}-plotjuggler-ros \
     ros-${ROS_DISTR}-tf-transformations \
+    ros-${ROS_DISTR}-topic-tools \
+    ros-${ROS_DISTR}-rviz-2d-overlay-plugins \
+    && pip3 install transforms3d \
 #   && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
 #   && rosdep install --from paths /ros2/src -y --ignore-src \
     && apt-get autoremove -y \
@@ -104,6 +107,8 @@ USER root
 RUN mkdir /zsh_history \
     && touch /zsh_history/.zsh_history \
     && chown -R $USERNAME /zsh_history
+RUN mkdir /home/$USERNAME/.cache/pre-commit \
+    && chown -R $USERNAME /home/$USERNAME/.cache/pre-commit
 ADD ros2-vim/nvim /home/$USERNAME/.config/nvim
 RUN chown -R $USERNAME /home/$USERNAME/
 USER ${USERNAME}
diff --git a/docker-compose.yml b/docker-compose.yml
index 7ca796a..49a03c6 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -11,6 +11,7 @@ services:
               count: all
               capabilities: [gpu]
   dev:
+    privileged: true
     container_name: ros2-vim
     network_mode: host
     build:
@@ -25,6 +26,9 @@ services:
     devices:
       - "/dev/dri:/dev/dri"
     volumes:
+      - type: bind
+        source: /dev
+        target: /dev
       - type: bind
         source: ${HOME}/uuv
         target: /home/ros-user/uuv
@@ -44,6 +48,7 @@ services:
         source: $XDG_RUNTIME_DIR/${WAYLAND_DISPLAY}
         target: /tmp/${WAYLAND_DISPLAY}
       - "ros2_zsh_history:/zsh_history"
+      - pre_commit_data:/home/ros-user/.cache/pre-commit
       - nvim_data:/home/ros-user/.local/share/nvim
       - $SSH_AUTH_SOCK:/ssh-agent
       - "~/.gitconfig:/etc/gitconfig"
@@ -63,3 +68,4 @@ services:
 volumes:
   ros2_zsh_history:
   nvim_data:
+  pre_commit_data: