diff --git a/.gitmodules b/.gitmodules
index c5fc0a32..00572dc7 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,4 @@
 [submodule "ouster-sdk"]
 	path = ouster-ros/ouster-sdk
 	url = https://github.com/ouster-lidar/ouster_example.git
+	ignore = untracked
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 7f13aae8..8df6e146 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,58 +1,69 @@
+# variable for distro name
 ARG ROS_DISTRO=rolling
 
+# import image using distro name
 FROM ros:${ROS_DISTRO}-ros-core AS build-env
+
+# assign environment variables
 ENV DEBIAN_FRONTEND=noninteractive \
     BUILD_HOME=/var/lib/build \
     OUSTER_ROS_PATH=/opt/ros2_ws/src/ouster-ros
 
+# install dependant packages
 RUN set -xue \
-# Turn off installing extra packages globally to slim down rosdep install
-&& echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \
-&& apt-get update \
-&& apt-get install -y       \
-    build-essential         \
-    cmake                   \
-    fakeroot                \
-    dpkg-dev                \
-    debhelper               \
-    python3-rosdep          \
-    python3-rospkg          \
-    python3-bloom           \
-    python3-colcon-common-extensions
+    # Turn off installing extra packages globally to slim down rosdep install
+    && echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \
+    && apt-get update           \
+    && apt-get install -y       \
+        build-essential         \
+        cmake                   \
+        fakeroot                \
+        dpkg-dev                \
+        debhelper               \
+        python3-rosdep          \
+        python3-rospkg          \
+        python3-bloom           \
+        python3-colcon-common-extensions
 
 # Set up non-root build user
 ARG BUILD_UID=1000
 ARG BUILD_GID=${BUILD_UID}
 
 RUN set -xe \
-&& groupadd -o -g ${BUILD_GID} build \
-&& useradd -o -u ${BUILD_UID} -d ${BUILD_HOME} -rm -s /bin/bash -g build build
+    && groupadd -o -g ${BUILD_GID} build \
+    && useradd -o -u ${BUILD_UID} -d ${BUILD_HOME} -rm -s /bin/bash -g build build
 
 # Set up build environment
 COPY --chown=build:build . $OUSTER_ROS_PATH
 
-RUN set -xe         \
-&& apt-get update   \
-&& rosdep init      \
-&& rosdep update --rosdistro=$ROS_DISTRO \
-&& rosdep install --from-paths $OUSTER_ROS_PATH -y --ignore-src
+# rosdep install 
+RUN set -xe             \
+    && apt-get update   \
+    && rosdep init      \
+    && rosdep update --rosdistro=$ROS_DISTRO \
+    && rosdep install --from-paths $OUSTER_ROS_PATH -y --ignore-src
 
 
 USER build:build
 WORKDIR ${BUILD_HOME}
 
-RUN set -xe \
-&& mkdir src \
-&& cp -R $OUSTER_ROS_PATH ./src
+# copy source files to src dir
+RUN set -xe      \
+    && mkdir src \
+    && cp -R $OUSTER_ROS_PATH ./src
 
 
 FROM build-env
 
 SHELL ["/bin/bash", "-c"]
 
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build \
-    --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release \
-    -DCMAKE_CXX_FLAGS="-Wno-deprecated-declarations"
+RUN source /opt/ros/$ROS_DISTRO/setup.bash  \
+    && colcon build                         \
+        --symlink-install                   \
+        -executor sequential                \ 
+        --cmake-args                        \
+        -DCMAKE_BUILD_TYPE=Release          \
+        -DCMAKE_CXX_FLAGS="-Wno-deprecated-declarations"
 
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon test \
     --ctest-args tests ouster_ros --rerun-failed --output-on-failure
@@ -61,7 +72,7 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon test \
 #
 # Usage: docker run --rm -it ouster-ros [sensor.launch parameters ..]
 #
-ENTRYPOINT ["bash", "-c", "set -e \
-&& source ./install/setup.bash \
-&& ros2 launch ouster_ros sensor.launch.xml \"$@\" \
-", "ros-entrypoint"]
+ENTRYPOINT ["bash", "-c", "set -e   \
+    && source ./install/setup.bash  \
+    && ros2 launch ouster_ros sensor.launch.xml \"$@\" \
+    ", "ros-entrypoint"]
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 00000000..485f17e9
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,33 @@
+version: '3.8'
+
+services:
+
+  freya-lidar:
+    # os1-122007000043
+    container_name: ouster-lidar-freya
+    image: ghcr.io/vortexntnu/ouster-lidar-ros2-driver-humble:2023-10-09
+    ports:
+      - 7502:7502/udp # lidar output port
+    entrypoint: ["bash", "-c", "set -e \
+                && source ./install/setup.bash \
+                && ros2 launch ouster_ros sensor.launch.xml \
+                    sensor_hostname:=169.254.154.82 \
+                    lidar_port:=7502 \
+                    viz:=false 
+                ", "ros-entrypoint"]
+
+
+
+  test-lidar:
+    # os1-122007000043
+    container_name: ouster-lidar-test
+    image: ghcr.io/vortexntnu/ouster-lidar-ros2-driver-humble:2023-10-09
+    ports:
+      - 7502:7502/udp # lidar output port
+    entrypoint: ["bash", "-c", "set -e \
+                && source ./install/setup.bash \
+                && ros2 launch ouster_ros sensor.launch.xml \
+                  sensor_hostname:=10.0.0.122 \
+                  lidar_port:=7502 \
+                  viz:=false
+                ", "ros-entrypoint"]
diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
index e7af89db..a8759d09 100644
--- a/ouster-ros/package.xml
+++ b/ouster-ros/package.xml
@@ -21,7 +21,7 @@
   <depend>pcl_ros</depend>
   <depend>pcl_conversions</depend>
   <depend>std_srvs</depend>
-  <depend>libglfw3-dev</depend>
+  <depend>libglfw3-dev</depend> <!-- added, needed -->
 
   <build_depend>libjsoncpp-dev</build_depend>
   <build_depend>eigen</build_depend>