diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..9881270
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,4 @@
+.git
+*.log
+build/
+install/
\ No newline at end of file
diff --git a/.env b/.env
new file mode 100644
index 0000000..e6d5820
--- /dev/null
+++ b/.env
@@ -0,0 +1 @@
+DOCKER_IMAGE=main-jazzy-tutorial-source
\ No newline at end of file
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..c6fbffb
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,36 @@
+services:
+  cpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: ["bash", "-c", "colcon build && source /ros2_ws/install/setup.bash && exec bash"]
+    volumes:
+      - ./:/ros2_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    working_dir: /ros2_ws
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+  gpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: /bin/bash
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all
\ No newline at end of file
diff --git a/src/servo_arm_twist_pkg/src/joystick_twist.cpp b/src/servo_arm_twist_pkg/src/joystick_twist.cpp
index 5a117d0..de69060 100644
--- a/src/servo_arm_twist_pkg/src/joystick_twist.cpp
+++ b/src/servo_arm_twist_pkg/src/joystick_twist.cpp
@@ -43,16 +43,12 @@
 #include <control_msgs/msg/joint_jog.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
-#include <rclcpp/client.hpp>
-#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
+
 #include <rclcpp/node.hpp>
 #include <rclcpp/publisher.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/qos_event.hpp>
 #include <rclcpp/subscription.hpp>
+#include <rclcpp/qos.hpp>
 #include <rclcpp/time.hpp>
-#include <rclcpp/utilities.hpp>
-#include <thread>
 
 // We'll just set up parameters here
 const std::string JOY_TOPIC = "/joy";
@@ -104,8 +100,9 @@ std::map<Button, double> BUTTON_DEFAULTS;
  * @return return true if you want to publish a Twist, false if you want to publish a JointJog
  */
 bool convertJoyToCmd(const std::vector<float>& axes, const std::vector<int>& buttons,
-                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist,
-                     std::unique_ptr<control_msgs::msg::JointJog>& joint)
+                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist
+                     // std::unique_ptr<control_msgs::msg::JointJog>& joint
+                    )
 {
     // // Give joint jogging priority because it is only buttons
     // // If any joint jog command is requested, we are only publishing joint commands
@@ -236,7 +233,7 @@ public:
         updateCmdFrame(frame_to_publish_, msg->buttons);
 
         // Convert the joystick message to Twist or JointJog and publish
-        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg, joint_msg))
+        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg))
         {
             // publish the TwistStamped
             twist_msg->header.frame_id = frame_to_publish_;