diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index 8d1e847b..fad1ea7b 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - ros2
+  workflow_dispatch:
+  
   pull_request:
     branches:
       - ros2
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 00000000..21a61330
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,38 @@
+version: '3.8'
+services:
+
+  freya-lidar:
+    container_name: ouster-lidar-ros
+    build: 
+      context: .
+      dockerfile: Dockerfile
+     
+    # network_mode: host  
+    environment:
+      - DISPLAY = :0
+    entrypoint: ["bash", "-c", "set -e \
+                && source ./install/setup.bash \
+                && ros2 launch ouster_ros sensor.launch.xml \
+                sensor_hostname:=os1-122037000366.local \
+                lidar_port:=30011
+                ", "ros-entrypoint"]
+    ports:
+    - 30011:30011
+
+  test-lidar:
+    container_name: ouster-lidar-ros
+    build: 
+      context: .
+      dockerfile: Dockerfile
+     
+    # network_mode: host  
+    ports:
+      - 1001:1001
+    environment:
+      - DISPLAY = :0
+    entrypoint: ["bash", "-c", "set -e \
+                && source ./install/setup.bash \
+                && ros2 launch ouster_ros sensor.launch.xml \
+                sensor_hostname:=os1-12207000043.local \
+                lidar_port:=1001
+                ", "ros-entrypoint"]
diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
index 2163039d..e7af89db 100644
--- a/ouster-ros/package.xml
+++ b/ouster-ros/package.xml
@@ -21,6 +21,7 @@
   <depend>pcl_ros</depend>
   <depend>pcl_conversions</depend>
   <depend>std_srvs</depend>
+  <depend>libglfw3-dev</depend>
 
   <build_depend>libjsoncpp-dev</build_depend>
   <build_depend>eigen</build_depend>