diff --git a/Dockerfile b/Dockerfile
index 8d2aa84..a8faf4c 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -17,13 +17,12 @@ RUN cd Livox-SDK2 && mkdir -p build && cd build && cmake .. && make -j4 && make
 WORKDIR /colcon_ws
 COPY livox_ros_driver2 src/livox_ros_driver2 
 
-RUN cp src/livox_ros_driver2/package_ROS2.xml src/livox_ros_driver2/package.xml && \
-    . /opt/ros/${ROS_DISTRO}/setup.sh && \
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
     colcon build --symlink-install --cmake-args -DROS_EDITION=${ROS_DISTRO} -DHUMBLE_ROS=${ROS_DISTRO} -DCMAKE_BUILD_TYPE=Release --event-handlers console_direct+
 
 ENV LAUNCH_COMMAND='ros2 launch livox_ros_driver2 msg_MID360_launch.py'
 
 # Create build and run aliases
-RUN echo 'alias build="colcon build --symlink-install  --event-handlers console_direct+"' >> /etc/bash.bashrc && \
-    echo 'alias run="su - ros /run.sh"' >> /etc/bash.bashrc && \
-    echo "source /colcon_ws/install/setup.bash; $LAUNCH_COMMAND" >> /run.sh && chmod +x /run.sh
+RUN echo 'alias build="colcon build --symlink-install  --cmake-args -DROS_EDITION=${ROS_DISTRO} -DHUMBLE_ROS=${ROS_DISTRO} -DCMAKE_BUILD_TYPE=Release --event-handlers console_direct+ "' >> /etc/bash.bashrc && \
+    echo 'alias run="su - ros --whitelist-environment=\"ROS_DOMAIN_ID\" /run.sh"' >> /etc/bash.bashrc && \
+    echo "source /colcon_ws/install/setup.bash; echo UID: $UID; echo ROS_DOMAIN_ID: $ROS_DOMAIN_ID; $LAUNCH_COMMAND" >> /run.sh && chmod +x /run.sh
diff --git a/build.sh b/build.sh
index 028fcb4..4cbd886 100755
--- a/build.sh
+++ b/build.sh
@@ -1,5 +1,7 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+export BUILDKIT_PROGRESS=plain
 
-docker build --progress=plain -t ghcr.io/rosblox/${REPOSITORY_NAME}:humble .
\ No newline at end of file
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml build 
\ No newline at end of file
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..23c67d2
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,15 @@
+services:
+  ros-livox-ros-driver2:
+    image: ghcr.io/rosblox/ros-livox-ros-driver2:humble
+    build:
+      context: .
+      dockerfile: Dockerfile
+    restart: always
+    network_mode: "host"
+    privileged: true
+    ipc: host
+    pid: host
+    environment:
+      - UID=${HOST_UID}
+      - ROS_DOMAIN_ID
+    command: su - ros --whitelist-environment=ROS_DOMAIN_ID /run.sh
diff --git a/livox_ros_driver2 b/livox_ros_driver2
index cd256b7..29c0bd3 160000
--- a/livox_ros_driver2
+++ b/livox_ros_driver2
@@ -1 +1 @@
-Subproject commit cd256b76787d34b60cdd004cd5ac8bdd889768a5
+Subproject commit 29c0bd33058b5fe58cb10cd2fc5eecf844aac8de
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
index 7cbc060..b6e69bf 100755
--- a/ros_entrypoint.sh
+++ b/ros_entrypoint.sh
@@ -1,9 +1,9 @@
 #!/bin/bash
 set -e
 
-id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} --uid ${GID:=1000} ros
+id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} ros
 
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-source /colcon_ws/install/setup.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source /colcon_ws/install/setup.bash || true
 
-exec "$@"
\ No newline at end of file
+exec "$@"
diff --git a/run.sh b/run.sh
index c9ad2f9..6c7337c 100755
--- a/run.sh
+++ b/run.sh
@@ -1,13 +1,10 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
-docker run -it --rm \
---network=host \
---ipc=host \
---pid=host \
---env UID=$(id -u) \
---env GID=$(id -g) \
+export HOST_UID=$(id -u)
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml run \
 --volume $(pwd)/livox_ros_driver2:/colcon_ws/src/livox_ros_driver2 \
 --volume $(pwd)/Livox-SDK2:/Livox-SDK2 \
-ghcr.io/rosblox/${REPOSITORY_NAME}:humble
+ros-livox-ros-driver2 bash