diff --git a/Dockerfile b/Dockerfile
index ccdcd76..90ba16e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,6 +3,8 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
     && apt-get install -y \
+    gdb \
+    gdbserver \
     ripgrep \
     ninja-build \
     gettext \
@@ -30,17 +32,17 @@ RUN apt-get update \
 
 FROM base-ros-nvim AS base-ros-nvim-graphics
 ARG ROS_DISTR=iron
+ENV ROS_DISTR=$ROS_DISTR
 ENV NVIDIA_VISIBLE_DEVICES \
     ${NVIDIA_VISIBLE_DEVICES:-all}
 ENV NVIDIA_DRIVER_CAPABILITIES \
     ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-ENV ROS_DISTR=$ROS_DISTR
 
 RUN apt-get update \
     #&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
     && apt-get install -y \
     software-properties-common \
-    && add-apt-repository -y ppa:inivation-ppa/inivation \
+    #&& add-apt-repository -y ppa:inivation-ppa/inivation \
     && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update \
@@ -58,14 +60,20 @@ RUN apt-get update \
     iputils-ping \
     sudo \
     wget \
+    #dv-processing \
+    #dv-runtime-dev \
     libserial-dev \
+    nlohmann-json3-dev \
     ros-${ROS_DISTR}-rqt-tf-tree \
     ros-${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 \
+    ros-${ROS_DISTR}-simple-launch \
+    ros-${ROS_DISTR}-slider-publisher \ # used for gripper tests
+    pre-commit \
+    # && 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 \
@@ -77,7 +85,8 @@ ARG USERNAME=ros-user
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN groupadd --gid $USER_GID $USERNAME \
+RUN userdel -r ubuntu; \
+    groupadd --gid $USER_GID $USERNAME \
     && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
     && chmod 0440 /etc/sudoers.d/$USERNAME
@@ -104,9 +113,14 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
     && mkdir -p "$HOME/.zsh" \
     && git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
     && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc \
-    && pip3 install yapf pre-commit ruff \
+    # && pip3 install yapf pre-commit ruff \
+    && git clone https://github.com/HippoCampusRobotics/hippo_core.git "$HOME/hippo_core" \
+    && ls $HOME/hippo_core/hippo_common/scripts \
+    && $HOME/hippo_core/hippo_common/scripts/install_scripts.sh \
     && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/6055b3168d4f0a8cd764ebc481280219/ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
-    && sudo apt-get install ./ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
+    # && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/286cb880b68d2c4b6c6d9e6730fab199/ros-jazzy-px4-msgs_2.0.1-0noble_amd64.deb \
+    # && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0noble_amd64.deb \
+    && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0jammy_amd64.deb \
     && sudo apt install asciinema \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
@@ -116,8 +130,10 @@ USER root
 RUN mkdir /zsh_history \
     && touch /zsh_history/.zsh_history \
     && chown -R $USERNAME /zsh_history
-RUN mkdir /home/$USERNAME/.cache/pre-commit \
+RUN mkdir -p /home/$USERNAME/.cache/pre-commit \
     && chown -R $USERNAME /home/$USERNAME/.cache/pre-commit
+RUN mkdir -p /home/$USERNAME/.local/bin \
+    && chown -R $USERNAME /home/$USERNAME/.local/bin
 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 ec212e0..3cb9f41 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -46,7 +46,7 @@ services:
         target: /home/ros-user/.config/nvim
       - type: bind
         source: $XDG_RUNTIME_DIR/${WAYLAND_DISPLAY}
-        target: /tmp/${WAYLAND_DISPLAY}
+        target: /tmp/runtime-ros-user/${WAYLAND_DISPLAY}
       - "ros2_zsh_history:/zsh_history"
       - pre_commit_data:/home/ros-user/.cache/pre-commit
       - nvim_data:/home/ros-user/.local/share/nvim
@@ -55,7 +55,7 @@ services:
 
     environment:
       - DISPLAY=${DISPLAY}
-      - XDG_RUNTIME_DIR=/tmp
+      - XDG_RUNTIME_DIR=/tmp/runtime-ros-user
       - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
       - QT_X11_NO_MITSHM=1
       - QT_STYLE_OVERRIDE=breeze
diff --git a/entrypoint.sh b/entrypoint.sh
index 7c14297..4c1c93d 100644
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -1,13 +1,18 @@
 #!/bin/bash
 set -e
-WORKSPACE_DIR="\$HOME/uuv/ros2"
-UNDERLAY_DIR="\$HOME/uuv/ros2_underlay"
 
-#echo "alias build_ros=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source $UNDERLAY_DIR/install/setup.bash && cd $WORKSPACE_DIR && colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'\"" >> ~/.zshrc
-#echo "alias build_underlay=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/$ROS_DISTR/setup.bash && cd $UNDERLAY_DIR && colcon build'\"" >> ~/.zshrc
-echo "alias rosdep-ros2=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source \$HOME/uuv/ros2_underlay/install/setup.bash && cd \$HOME/uuv/ros2 && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
-echo "alias rosdep-underlay=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/iron/setup.bash && cd \$HOME/uuv/ros2_underlay && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
+host=$(cat /etc/hostname)
+echo "127.0.0.1 $host" | sudo tee -a /etc/hosts > /dev/null 2>1
+sudo chown $UID:$UID $XDG_RUNTIME_DIR
+chmod 700 $XDG_RUNTIME_DIR
 
+export WORKSPACE_DIR="\$HOME/uuv/ros2"
+export UNDERLAY_DIR="\$HOME/uuv/ros2_underlay"
+
+echo "alias build_ros=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source $UNDERLAY_DIR/install/setup.bash && cd $WORKSPACE_DIR && colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'\"" >> ~/.zshrc
+echo "alias build_underlay=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/$ROS_DISTR/setup.bash && cd $UNDERLAY_DIR && colcon build'\"" >> ~/.zshrc
+echo "alias rosdep-ros2=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color UNDERLAY_DIR=\$UNDERLAY_DIR bash -l -c 'source \$UNDERLAY_DIR/install/setup.bash && cd $WORKSPACE_DIR && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
+echo "alias rosdep-underlay=\"env -i UNDERLAY_DIR=\$UNDERLAY_DIR HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/$ROS_DISTR/setup.bash && cd $UNDERLAY_DIR && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
 
 echo 'source $HOME/uuv/ros2_underlay/install/setup.zsh' >> ~/.zshrc
 echo 'source $HOME/uuv/ros2/install/local_setup.zsh' >> ~/.zshrc
@@ -18,4 +23,9 @@ echo 'eval "$(register-python-argcomplete3 build-ros)"' >> ~/.zshrc
 echo 'eval "$(register-python-argcomplete3 clean-ros)"' >> ~/.zshrc
 echo "bindkey '^ ' autosuggest-toggle" >> ~/.zshrc
 
+
+# required to make the daemon/CLI work properly
+# might be fixed in ros jazzy according to https://github.com/ros2/ros2/issues/1531
+ulimit -n 1024
+
 exec $@