diff --git a/.docker/jazzy.amd64.dockerfile b/.docker/jazzy.amd64.dockerfile
index 95c5b2c2..8ce4615f 100644
--- a/.docker/jazzy.amd64.dockerfile
+++ b/.docker/jazzy.amd64.dockerfile
@@ -66,3 +66,4 @@ RUN touch /ros_entrypoint.sh && sed --in-place --expression \
 
 # Set User as user
 USER $USER
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
diff --git a/.docker/jazzy.arm64v8.dockerfile b/.docker/jazzy.arm64v8.dockerfile
index 9e6c2aad..513827fe 100644
--- a/.docker/jazzy.arm64v8.dockerfile
+++ b/.docker/jazzy.arm64v8.dockerfile
@@ -1,73 +1,88 @@
-FROM arm64v8/ubuntu:24.04
-# Set RDP and SSH environments
-ARG X11Forwarding=true
-# hadolint ignore=DL3008,DL3015,DL3009
-RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
-        apt-get install -y ubuntu-desktop-minimal=1.539 dbus-x11 xrdp sudo; \
-    [ $X11Forwarding = 'true' ] && apt-get install -y openssh-server; \
-    apt-get autoremove --purge; \
-    apt-get clean; \
-    rm /run/reboot-required*
-
-ARG USER=docker
-ARG PASS=docker
-
-RUN useradd -s /bin/bash -m $USER -p "$(openssl passwd "$PASS")"; \
-    usermod -aG sudo $USER; echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers; \
-    adduser xrdp ssl-cert; \
-    # Setting the required environment variables
-    echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
-    echo 'export GNOME_SHELL_SESSION_MODE=ubuntu' > /home/$USER/.xsessionrc; \
-    echo 'export XDG_CURRENT_DESKTOP=ubuntu:GNOME' >> /home/$USER/.xsessionrc; \
-    echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
-    # Enabling log to the stdout
-    sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
-    # Disabling system animations and reducing the
-    # image quality to improve the performance
-    sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
-    gsettings set org.gnome.desktop.interface enable-animations true; \
-    # Listening on wildcard address for X forwarding
-    [ $X11Forwarding = 'true' ] && \
-        sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
-        sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
-        :;
-
-# Disable initial welcome window
-RUN echo "X-GNOME-Autostart-enabled=false" >> /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
-
-# Run
-EXPOSE 3389/tcp
-EXPOSE 22/tcp
-# hadolint ignore=DL3025
-CMD sudo rm -f /var/run/xrdp/xrdp*.pid >/dev/null 2>&1; \
-    sudo service dbus restart >/dev/null 2>&1; \
-    sudo /usr/lib/systemd/systemd-logind >/dev/null 2>&1 & \
-    [ -f /usr/sbin/sshd ] && sudo /usr/sbin/sshd; \
-    sudo xrdp-sesman --config /etc/xrdp/sesman.ini; \
-    sudo xrdp --nodaemon --config /etc/xrdp/xrdp.ini
+# FROM arm64v8/ubuntu:24.04
+# # Set RDP and SSH environments
+# ARG X11Forwarding=true
+# # hadolint ignore=DL3008,DL3015,DL3009
+# RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+#         apt-get install -y ubuntu-desktop-minimal dbus-x11 xrdp sudo; \
+#     [ $X11Forwarding = 'true' ] && apt-get install -y openssh-server; \
+#     apt-get autoremove --purge; \
+#     apt-get clean; \
+#     rm /run/reboot-required*
+
+# ARG USER=docker
+# ARG PASS=docker
+
+# RUN useradd -s /bin/bash -m $USER -p "$(openssl passwd "$PASS")"; \
+#     usermod -aG sudo $USER; echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers; \
+#     adduser xrdp ssl-cert; \
+#     # Setting the required environment variables
+#     echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
+#     echo 'export GNOME_SHELL_SESSION_MODE=ubuntu' > /home/$USER/.xsessionrc; \
+#     echo 'export XDG_CURRENT_DESKTOP=ubuntu:GNOME' >> /home/$USER/.xsessionrc; \
+#     echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
+#     # Enabling log to the stdout
+#     sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
+#     # Disabling system animations and reducing the
+#     # image quality to improve the performance
+#     sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
+#     gsettings set org.gnome.desktop.interface enable-animations true; \
+#     # Listening on wildcard address for X forwarding
+#     [ $X11Forwarding = 'true' ] && \
+#         sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
+#         sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
+#         :;
+
+# # Disable initial welcome window
+# RUN echo "X-GNOME-Autostart-enabled=false" >> /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
+
+# # Install basics
+# ENV DEBIAN_FRONTEND noninteractive
+# ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# # hadolint ignore=DL3008
+# RUN apt-get update && \
+#     apt-get install -y --no-install-recommends \
+#     sudo xterm init systemd snapd vim net-tools \
+#     curl wget git build-essential cmake cppcheck \
+#     gnupg libeigen3-dev libgles2-mesa-dev \
+#     lsb-release pkg-config protobuf-compiler \
+#     python3-dbg python3-pip python3-venv \
+#     qtbase5-dev ruby dirmngr gnupg2 nano xauth \
+#     software-properties-common htop libtool \
+#     x11-apps mesa-utils bison flex automake && \
+#     rm -rf /var/lib/apt/lists/
 
+# Locale for UTF-8
+# RUN truncate -s0 /tmp/preseed.cfg && \
+#    (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
+#    (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
+#    debconf-set-selections /tmp/preseed.cfg && \
+#    rm -f /etc/timezone && \
+#    dpkg-reconfigure -f noninteractive tzdata
+# # hadolint ignore=DL3008
+# RUN apt-get update && \
+#     apt-get -y install --no-install-recommends locales tzdata \
+#     && rm -rf /tmp/*
+# RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+#     export LANG=en_US.UTF-8
+
+# # Run
+# EXPOSE 3389/tcp
+# EXPOSE 22/tcp
+# # hadolint ignore=DL3025
+# CMD sudo rm -f /var/run/xrdp/xrdp*.pid >/dev/null 2>&1; \
+#     sudo service dbus restart >/dev/null 2>&1; \
+#     sudo /usr/lib/systemd/systemd-logind >/dev/null 2>&1 & \
+#     [ -f /usr/sbin/sshd ] && sudo /usr/sbin/sshd; \
+#     sudo xrdp-sesman --config /etc/xrdp/sesman.ini; \
+#     sudo xrdp --nodaemon --config /etc/xrdp/xrdp.ini
+
+# hadolint ignore=DL3007
+FROM woensugchoi/ubuntu-arm-rdp-base:latest
 
 # ROS-Gazebo arg
 ARG BRANCH="ros2"
 ARG ROS_DISTRO="jazzy"
 
-# Install basics
-USER root
-ENV DEBIAN_FRONTEND noninteractive
-ENV DEBCONF_NONINTERACTIVE_SEEN=true
-# hadolint ignore=DL3008
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-    sudo xterm init systemd snapd vim net-tools \
-    curl wget git build-essential cmake cppcheck \
-    gnupg libeigen3-dev libgles2-mesa-dev \
-    lsb-release pkg-config protobuf-compiler \
-    python3-dbg python3-pip python3-venv \
-    qtbase5-dev ruby dirmngr gnupg2 nano xauth \
-    software-properties-common htop libtool \
-    x11-apps mesa-utils bison flex automake && \
-    rm -rf /var/lib/apt/lists/
-
 # Locale for UTF-8
 RUN truncate -s0 /tmp/preseed.cfg && \
    (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
@@ -113,9 +128,8 @@ RUN touch /ros_entrypoint.sh && sed --in-place --expression \
 
 # Set User as user
 USER docker
-
-# Set volume previleage for HOST home directory
-RUN echo "chown docker:docker ~/HOST" >> ~/.bashrc
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "chown docker:docker ~/HOST" >> ~/.bashrc
 
 # Use software rendering for container
 ENV LIBGL_ALWAYS_INDIRECT=1