diff --git a/build/Taskfile b/build/Taskfile
index 9ad466af..b152bc75 100644
--- a/build/Taskfile
+++ b/build/Taskfile
@@ -11,6 +11,11 @@ task:run() {
     docker:compose up "$@"
 }
 
+task:run_dev() {
+  xhost +local:docker
+  docker:compose -f docker-compose.dev.yaml up
+}
+
 task:restart() {
     container="$1"
     docker:compose restart "${container:-agent}"
diff --git a/build/docker-compose.dev.yaml b/build/docker-compose.dev.yaml
new file mode 100644
index 00000000..6ba17e3d
--- /dev/null
+++ b/build/docker-compose.dev.yaml
@@ -0,0 +1,90 @@
+version: "3"
+
+services:
+  flake8:
+    image: alpine/flake8
+    command: .
+    volumes:
+      - ../:/apps
+
+  comlipy:
+    build: docker/comlipy
+    command: .
+    volumes:
+      - ../:/apps
+
+  mdlint:
+    image: peterdavehello/markdownlint:0.32.2
+    command: markdownlint .
+    volumes:
+      - ../:/md
+
+      # based on https://github.com/ll7/paf21-1/blob/master/scenarios/docker-carla-sim-compose.yml
+  carla-simulator:
+    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound -carla-settings="/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini"
+    image: ghcr.io/una-auxme/paf23:leaderboard-2.0
+    init: true
+    deploy:
+      resources:
+        limits:
+          memory: 16G
+    expose:
+      - 2000
+      - 2001
+      - 2002
+    environment:
+      - XDG_RUNTIME_DIR=/tmp/runtime-carla
+    networks:
+      - carla
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ./CustomCarlaSettings.ini:/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini
+
+  roscore:
+    image: ros:noetic
+    command: roscore
+    environment:
+      - ROS_MASTER_URI=http://roscore:11311
+      - ROS_HOSTNAME=roscore
+    expose:
+      - 11311
+    networks:
+      - ros
+
+  agent:
+    build:
+      dockerfile: build/docker/agent/Dockerfile
+      args:
+        - USER_UID=${DOCKER_HOST_UNIX_UID:-1000}
+        - USER_GID=${DOCKER_HOST_UNIX_GID:-1000}
+      context: ../
+    init: true
+    tty: true
+    shm_size: 2gb
+    #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS"
+    command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
+    # command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=paf23-carla-simulator-1 --track=MAP"
+
+    logging:
+      driver: "local"
+    environment:
+      - DISPLAY
+      - ROS_MASTER_URI=http://roscore:11311
+      - CARLA_SIM_HOST=carla-simulator
+      - ROS_HOSTNAME=agent
+      - XDG_RUNTIME_DIR=/tmp/runtime-carla
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      # if you change the volume here also change the copy command
+      # in ``build/docker/build/Dockerfile
+      - ../:/workspace
+      # mount git config for dvc
+      - ../.gitconfig:/home/carla/.gitconfig
+      - ../:/workspace/
+    networks:
+      - carla
+      - ros
+
+networks:
+  carla:
+  ros:
diff --git a/build/docker/agent/Dockerfile b/build/docker/agent/Dockerfile
index 2c6ce5ac..93b677b3 100644
--- a/build/docker/agent/Dockerfile
+++ b/build/docker/agent/Dockerfile
@@ -120,7 +120,7 @@ RUN echo 'pexpect' >> $SCENARIO_RUNNER_ROOT/requirements.txt && \
 # install the leaderboard from GitHub leaderboard-2.0 branch
 ENV LEADERBOARD_ROOT=/opt/leaderboard
 RUN sudo mkdir $LEADERBOARD_ROOT && sudo chown $USERNAME:$USERNAME $LEADERBOARD_ROOT
-RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/una-auxme/leaderboard $LEADERBOARD_ROOT
 RUN python -m pip install -r $LEADERBOARD_ROOT/requirements.txt
 RUN sudo mkdir /opt/leaderboard-py3 && sudo chown $USERNAME:$USERNAME /opt/leaderboard-py3 && \
     ln -s $LEADERBOARD_ROOT/leaderboard /opt/leaderboard-py3/leaderboard && \
diff --git a/build/docker/agent/Dockerfile_Submission b/build/docker/agent/Dockerfile_Submission
index 17fdcce6..bb6757d2 100644
--- a/build/docker/agent/Dockerfile_Submission
+++ b/build/docker/agent/Dockerfile_Submission
@@ -122,7 +122,7 @@ RUN echo 'pexpect' >> $SCENARIO_RUNNER_ROOT/requirements.txt && \
 # install the leaderboard from GitHub leaderboard-2.0 branch
 ENV LEADERBOARD_ROOT=/opt/leaderboard
 RUN sudo mkdir $LEADERBOARD_ROOT && sudo chown $USERNAME:$USERNAME $LEADERBOARD_ROOT
-RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/una-auxme/leaderboard $LEADERBOARD_ROOT
 RUN python -m pip install -r $LEADERBOARD_ROOT/requirements.txt
 RUN sudo mkdir /opt/leaderboard-py3 && sudo chown $USERNAME:$USERNAME /opt/leaderboard-py3 && \
     ln -s $LEADERBOARD_ROOT/leaderboard /opt/leaderboard-py3/leaderboard && \
diff --git a/code/agent/config/dev_objects.json b/code/agent/config/dev_objects.json
index c1d5e69b..86a88ba3 100644
--- a/code/agent/config/dev_objects.json
+++ b/code/agent/config/dev_objects.json
@@ -112,7 +112,7 @@
             "yaw": 0.0
           },
           "range": 50,
-          "rotation_frequency": 15,
+          "rotation_frequency": 10,
           "channels": 64,
           "upper_fov": 10,
           "lower_fov": -30,
diff --git a/code/agent/launch/agent.launch b/code/agent/launch/agent.launch
index 089c378a..3edf1f08 100644
--- a/code/agent/launch/agent.launch
+++ b/code/agent/launch/agent.launch
@@ -1,6 +1,6 @@
 <launch>
     <arg name="role_name" default="hero" />
-    <arg name="control_loop_rate" default="0.025" />
+    <arg name="control_loop_rate" default="0.1" />
 
     <!-- perception -->
     <include file="$(find perception)/launch/perception.launch">
diff --git a/code/agent/launch/dev.launch b/code/agent/launch/dev.launch
index cc1f148d..ddfae533 100644
--- a/code/agent/launch/dev.launch
+++ b/code/agent/launch/dev.launch
@@ -15,7 +15,7 @@
 
   <!-- Synchronous mode-->
   <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/>
-  <arg name='fixed_delta_seconds' default='0.025'/>
+  <arg name='fixed_delta_seconds' default='0.1'/>
 
 
   <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">