diff --git a/Dockerfile b/Dockerfile
index 5e08abb3..fb659c8b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,19 +1,18 @@
 # FROM osrf/ros:humble-desktop AS common
 FROM ghcr.io/automotiveaichallenge/autoware-universe:humble-latest AS common
 
-RUN apt-get update
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list > /dev/null && apt-get update
 RUN apt-get -y install libgl1-mesa-glx libgl1-mesa-dri
 RUN apt-get -y install iproute2
 RUN apt-get -y install wmctrl
 RUN apt-get -y install ros-humble-rqt-tf-tree
 RUN apt-get -y install ros-humble-rqt-graph
 
-RUN apt-get update
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list > /dev/null && apt-get update
 RUN apt install zenoh-bridge-ros2dds terminator -y
 RUN apt install arp-scan -y
 
 COPY --chmod=757 remote /remote 
+COPY --chmod=757 vehicle /vehicle
 
 # PATH="$PATH:/root/.local/bin"
 # PATH="/usr/local/cuda/bin:$PATH"
diff --git a/vehicle/run_zenoh.bash b/vehicle/run_zenoh.bash
index a1e13a21..c98c75da 100755
--- a/vehicle/run_zenoh.bash
+++ b/vehicle/run_zenoh.bash
@@ -1,10 +1,4 @@
 #!/bin/bash
-SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
-docker run --rm \
-    --net=host \
-    -e ROS_DISTRO=humble \
-    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-    -e CYCLONEDDS_URI=file:///vehicle/cyclonedds.xml \
-    -v "${SCRIPT_DIR}:/vehicle" \
-    --name zenoh \
-    eclipse/zenoh-bridge-ros2dds:latest -c /vehicle/zenoh.json5
+
+# shellcheck disable=SC2086
+rocker --x11 --devices /dev/dri --env ROS_DISTRO=humble --user --net host --privileged --name zenoh --volume aichallenge:/aichallenge -- "aichallenge-2024-dev-${USER}" zenoh-bridge-ros2dds -c /vehicle/zenoh.json5