diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile
index 47f2121ce..0df177651 100644
--- a/.github/workflows/docker/vrx/Dockerfile
+++ b/.github/workflows/docker/vrx/Dockerfile
@@ -10,7 +10,7 @@ ARG ROSDIST=humble
 RUN mkdir -p ~/vrx_ws/src
 
 # TODO: restore version tag
-RUN git clone --depth 1 -b 2.3.1 https://github.com/osrf/vrx.git \
+RUN git clone --depth 1 -b 2.3.3 https://github.com/osrf/vrx.git \
 && mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
@@ -22,21 +22,21 @@ RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \
 ## END OF SECTION BASED ON vrx/docker/Dockerfile
 
 # Cache fuel resources
-RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \
-  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v'
-# ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org
+# RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v'
+ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org
 
 # read wam-v sensors and thruster config
 COPY config /home/config
diff --git a/.github/workflows/docker/vrx/README.md b/.github/workflows/docker/vrx/README.md
index 2978411e2..63609ecf6 100644
--- a/.github/workflows/docker/vrx/README.md
+++ b/.github/workflows/docker/vrx/README.md
@@ -3,7 +3,8 @@
 ## How to use
 
 ```bash
-docker run wamvtan/vrx
+docker run -it wamvtan/vrx /bin/bash
+ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf
 ```
 
 In default setting, you can publish/subscribe these topics.  
diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash
index 071b8f3ce..c1cc6aafd 100755
--- a/.github/workflows/docker/vrx/run_vrx_gazebo.bash
+++ b/.github/workflows/docker/vrx/run_vrx_gazebo.bash
@@ -1,5 +1,11 @@
 # generate wamv_target.urdf
 ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False
 
+# launch nav_sim 
+ros2 launch navi_sim navi_sim.launch.py&
+
+# run vrx_bridge node to exchange sensor info with nav_sim
+ros2 run vrx_bridge vrx_bridge_node&
+
 # launch vrx gazebo
-ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf
\ No newline at end of file
+# ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf
diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml
index 8cd82544a..c311817af 100644
--- a/ansible/roles/clone_packages/tasks/main.yml
+++ b/ansible/roles/clone_packages/tasks/main.yml
@@ -136,6 +136,13 @@
     version: main
     accept_hostkey: yes
   tags: [utility]
+- name: clone vrx_bridge
+  git:
+    repo: https://github.com/OUXT-Polaris/vrx_bridge.git
+    dest: "{{workspace_path}}/src/utils/vrx_bridge"
+    version: master
+    accept_hostkey: yes
+  tags: [utility]
 
 # Description Packages
 - name: clone wamv_description