diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile
index 17c7c1a8d..95b7ebc47 100644
--- a/.github/workflows/docker/vrx/Dockerfile
+++ b/.github/workflows/docker/vrx/Dockerfile
@@ -11,8 +11,15 @@ ARG ROS_DISTRO=humble
 # Create workspace
 RUN mkdir -p ~/vrx_ws/src
 
+# RUN apt-get update && \
+#     apt-get upgrade -y && \
+#     apt-get install -y libgz-rendering7-ogre2-dev && \
+#     apt-get clean && \
+#     rm -rf /var/lib/apt/lists/*
+
 # TODO: restore version tag
-RUN git clone --depth 1 -b 2.3.3 https://github.com/osrf/vrx.git \
+ADD https://api.github.com/repos/OUXT-Polaris/vrx/git/refs/heads/feature/laser_refrection version.json
+RUN git clone --depth 1 -b feature/laser_refrection https://github.com/OUXT-Polaris/vrx.git \
 && mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
@@ -51,4 +58,6 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
 ADD entrypoint.sh /
 RUN chmod +x entrypoint.sh
 
+ENV GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:/root/vrx_ws/install/wamv_description/share:/root/vrx_ws/install/wamv_gazebo/share
+
 ENTRYPOINT ["/entrypoint.sh"]
diff --git a/.github/workflows/docker/vrx/entrypoint.sh b/.github/workflows/docker/vrx/entrypoint.sh
index a679a2d87..ede18a2a9 100755
--- a/.github/workflows/docker/vrx/entrypoint.sh
+++ b/.github/workflows/docker/vrx/entrypoint.sh
@@ -5,7 +5,6 @@ set -e
 source "/opt/ros/humble/setup.bash"
 # setup vrx environment
 source ~/vrx_ws/install/setup.sh
-echo "vrx entrypoint executed"
 
 # TODO: optionally disable this so a gzclient can be run on the host for development.
 # export GAZEBO_IP=127.0.0.1
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/model.sdf
index 4a7041a65..502b2a034 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/model.sdf
@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/antenna.dae</uri>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_chair/1/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_chair/1/model.sdf
index 252ad357c..71bb0974b 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_chair/1/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_chair/1/model.sdf
@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <scale>0.1 0.1 0.1</scale>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf
index 93acf5ad3..0fca09878 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf
@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>mesh/foldable_table.dae</uri>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf
index 0fd642a2e..9f953f788 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf
@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_green/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_green/2/model.sdf
index 318c745f6..967e798bf 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_green/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_green/2/model.sdf
@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf
index 4cc25f537..733c3e9b0 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf
@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf
index e209a886d..d791a8ab1 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf
@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_black/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_black/2/model.sdf
index 25bd55c96..a67ce0070 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_black/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_black/2/model.sdf
@@ -22,6 +22,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange/tip/files/meshes/mb_round_buoy.dae</uri>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_orange/3/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_orange/3/model.sdf
index 6574e6c5f..c29a4bae3 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_orange/3/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_orange/3/model.sdf
@@ -22,6 +22,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/mb_round_buoy.dae</uri>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf
index daeb0a790..bccf2d45e 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf
@@ -5,6 +5,7 @@
         <pose>0 0 0 0 0 0</pose>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/post.dae</uri>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/sydney_regatta/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/sydney_regatta/2/model.sdf
index fd78bf695..c27b54c1c 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/sydney_regatta/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/sydney_regatta/2/model.sdf
@@ -5,6 +5,7 @@
         <static>true</static>
         <link name="link">
             <visual name="visual_terrain">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -15,6 +16,7 @@
                 </geometry>
             </visual>
             <visual name="visual_dock_dark">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -25,6 +27,7 @@
                 </geometry>
             </visual>
             <visual name="visual_metal_galvanized">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -35,6 +38,7 @@
                 </geometry>
             </visual>
             <visual name="visual_dock">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -45,6 +49,7 @@
                 </geometry>
             </visual>
             <visual name="visual_windows_dark">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -55,6 +60,7 @@
                 </geometry>
             </visual>
             <visual name="visual_roof">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -65,6 +71,7 @@
                 </geometry>
             </visual>
             <visual name="visual_wall">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -75,6 +82,7 @@
                 </geometry>
             </visual>
             <visual name="visual_branches">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf
index 57db3c973..4f5fd6264 100644
--- a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf
+++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf
@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>mesh/tent.dae</uri>