diff --git a/docker-compose.yaml b/docker-compose.yaml
index 1015cb2..c25a3d0 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -95,9 +95,17 @@ services:
       - /dev/input:/dev/input
     restart: unless-stopped
 
+  # scan filter node
+  lidar_filter:
+    extends: overlay
+    command: >
+      ros2 launch cps_loki_bringup robot_scan_filter.launch.py
+    
   # lidar
   lidar:
     extends: overlay
+    depends_on:
+      - lidar_filter
     command: >
       ros2 launch cps_loki_bringup robot_lidar.launch.py
     devices: