diff --git a/tools/Dockerfile.dev b/tools/Dockerfile.dev
index 3667c40..a225348 100644
--- a/tools/Dockerfile.dev
+++ b/tools/Dockerfile.dev
@@ -1,9 +1,9 @@
-ARG ROS_DISTRO=jazzy
+ARG ROS_DISTRO=z
 ARG PREFIX=
 ARG HUSARION_ROS_BUILD_TYPE=hardware
 
 ## =========================== ROS builder ===============================
-FROM rosbot-jazzy-rosdep
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
 
 ARG ROS_DISTRO
 ARG PREFIX
@@ -12,21 +12,20 @@ ARG HUSARION_ROS_BUILD_TYPE
 ENV HUSARION_ROS_BUILD_TYPE=${HUSARION_ROS_BUILD_TYPE}
 
 WORKDIR /ros2_ws
-RUN mkdir -p src
+RUN mkdir src
+
+COPY ./ src/
 
 RUN apt-get update && apt-get install -y \
         python3-pip \
-        stm32flash python3-periphery  python3-ftdi
-
-
-COPY ./ src/
-# RUN vcs import src < src/rosbot/rosbot_hardware.repos && \
-#     if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then \
-#         vcs import src < src/rosbot/rosbot_simulation.repos; \
-#     else \
-#         rm -rf src/rosbot_gazebo; \
-#     fi && \
-RUN rm -rf src/rosbot_gazebo; rm -rf src/rosbot_controllers/mecanum_drive_controller \
+        stm32flash
+
+RUN vcs import src < src/rosbot/rosbot_hardware.repos && \
+    if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then \
+        vcs import src < src/rosbot/rosbot_simulation.repos; \
+    else \
+        rm -rf src/rosbot_gazebo; \
+    fi && \
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
 	rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
diff --git a/tools/compose.dev.yaml b/tools/compose.dev.yaml
index 01e58b2..daf1af4 100644
--- a/tools/compose.dev.yaml
+++ b/tools/compose.dev.yaml
@@ -10,37 +10,16 @@ services:
     build:
       context: ../
       dockerfile: tools/Dockerfile.dev
-    network_mode: host
-    ipc: host
     # privileged: true # GPIO
-    # devices:
-    #   - ${SERIAL_PORT:?err}
-    #   - /dev/bus/usb/ #FTDI
+    devices:
+      - ${SERIAL_PORT:?err}
+      - /dev/bus/usb/ #FTDI
     volumes:
       - ../rosbot_utils:/ros2_ws/src/rosbot_utils
-    # command: tail -f /dev/null
-    environment:
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    command: >
-      ros2 launch rosbot_bringup bringup.launch.py
-        mecanum:=${MECANUM:-False}
-        namespace:=rosbot
-  rviz:
-    image: husarion/rviz2:jazzy-jazzy
-    # build:
-    #   context: ..
-    #   dockerfile: Dockerfile
-    network_mode: host
-    ipc: host
-    runtime: nvidia
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      # - ./rosbot.rviz:/root/.rviz2/default.rviz
-    environment:
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-      - ROS_DOMAIN_ID
-      - DISPLAY
-      - NVIDIA_VISIBLE_DEVICES=all
-      - NVIDIA_DRIVER_CAPABILITIES=all
-    command: >
-      rviz2 --ros-args -r __ns:=/rosbot -r /tf:=tf -r /tf_static:=tf_static
+    command: tail -f /dev/null
+    # command: >
+    #   ros2 launch rosbot_bringup combined.launch.py
+    #     mecanum:=${MECANUM:-False}
+    #     serial_port:=$SERIAL_PORT
+    #     serial_baudrate:=576000
+    #     namespace:=robot1