diff --git a/config/foxglove/extensions/yulong.virtual-joystick-0.0.1.foxe b/config/foxglove/extensions/yulong.virtual-joystick-0.0.1.foxe
new file mode 100644
index 0000000..7901c20
Binary files /dev/null and b/config/foxglove/extensions/yulong.virtual-joystick-0.0.1.foxe differ
diff --git a/config/foxglove/foxglove-layout.json b/config/foxglove/foxglove-layout.json
new file mode 100644
index 0000000..60a3e1d
--- /dev/null
+++ b/config/foxglove/foxglove-layout.json
@@ -0,0 +1,155 @@
+{
+  "configById": {
+    "virtual-joystick.Virtual Joystick!26sdvuh": {
+      "topic": "/cmd_vel",
+      "publishRate": 60,
+      "maxLinearSpeed": 0.5,
+      "maxAngularSpeed": 2
+    },
+    "3D!18i6zy7": {
+      "layers": {
+        "845139cb-26bc-40b3-8161-8ab60af4baf5": {
+          "visible": true,
+          "frameLocked": true,
+          "label": "Grid",
+          "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
+          "layerId": "foxglove.Grid",
+          "size": 10,
+          "divisions": 10,
+          "lineWidth": 1,
+          "color": "#248eff",
+          "position": [
+            0,
+            0,
+            0
+          ],
+          "rotation": [
+            0,
+            0,
+            0
+          ],
+          "order": 1
+        }
+      },
+      "cameraState": {
+        "distance": 20,
+        "perspective": true,
+        "phi": 60,
+        "target": [
+          0,
+          0,
+          0
+        ],
+        "targetOffset": [
+          0,
+          0,
+          0
+        ],
+        "targetOrientation": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "thetaOffset": 45,
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {},
+      "transforms": {},
+      "topics": {},
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {}
+    },
+    "Image!3mnp456": {
+      "cameraState": {
+        "distance": 20,
+        "perspective": true,
+        "phi": 60,
+        "target": [
+          0,
+          0,
+          0
+        ],
+        "targetOffset": [
+          0,
+          0,
+          0
+        ],
+        "targetOrientation": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "thetaOffset": 45,
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {},
+      "transforms": {},
+      "topics": {},
+      "layers": {},
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {}
+    },
+    "RawMessages!os6rgs": {
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "topicPath": ""
+    },
+    "Battery Indicator.Battery display!3gjrnnu": {
+      "batteryTopic": "",
+      "topic": {
+        "batteryTopic": ""
+      }
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": {
+    "speed": 1
+  },
+  "layout": {
+    "direction": "row",
+    "first": "virtual-joystick.Virtual Joystick!26sdvuh",
+    "second": {
+      "first": "3D!18i6zy7",
+      "second": {
+        "first": "Image!3mnp456",
+        "second": {
+          "first": "RawMessages!os6rgs",
+          "second": "Battery Indicator.Battery display!3gjrnnu",
+          "direction": "column",
+          "splitPercentage": 79.02494331065759
+        },
+        "direction": "column",
+        "splitPercentage": 30
+      },
+      "direction": "row",
+      "splitPercentage": 70
+    }
+  }
+}
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
index caee339..14b90de 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -214,30 +214,48 @@ services:
   # This section is mostly for supervision from PC                                                                               #
   ################################################################################################################################
 
+  # foxglove-bridge:
+  #   image: husarion/foxglove-bridge:humble
+  #   # Interactive shell
+  #   stdin_open: true
+  #   tty: true
+  #   # Networking and IPC for ROS 2
+  #   network_mode: host
+  #   ipc: host
+  #   # Needed to display graphical applications
+  #   #privileged: true
+  #   environment:
+  #     # Allows graphical programs in the container.
+  #     - DISPLAY=${DISPLAY}
+  #     - QT_X11_NO_MITSHM=1
+  #     - NVIDIA_DRIVER_CAPABILITIES=all
+  #     - ROS_DOMAIN_ID=5
+  #     - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+  # Foxglove Studio Bridge
   foxglove-bridge:
-    image: husarion/foxglove-bridge:humble
-    # Interactive shell
+    extends: overlay
+    command: >
+      ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
-    network_mode: host
+    #network_mode: host
     ipc: host
-    # Needed to display graphical applications
-    #privileged: true
     environment:
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
       - ROS_DOMAIN_ID=5
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   foxglove:
-    image: husarion/foxglove
+    #image: husarion/foxglove
+    image: ghcr.io/foxglove/studio:latest
     depends_on:
       - foxglove-bridge
     ports:
       - 8080:8080
+    volumes:
+      - ./config/foxglove/extensions:/src/extensions
+      - ./config/foxglove/foxglove-layout.json:/foxglove/default-layout.json
 
   # rviz2
   rviz2: