diff --git a/docker-compose.yaml b/docker-compose.yaml
index 703b7cc..ee00ee3 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -31,6 +31,8 @@ services:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
       - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     volumes:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw