diff --git a/docker-compose.yaml b/docker-compose.yaml
index 795764a..664f553 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -54,6 +54,22 @@ services:
     # Needed to display graphical applications
     privileged: true
 
+  # MicroRos Agent
+  microros_agent:
+    image: microros/micro-ros-agent:humble
+    command: >
+      serial
+    devices:
+      - /dev/ttyUSB1:/dev/ttyUSB1
+    # 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
+
   # Localization
   localization:
     extends: overlay
@@ -72,6 +88,9 @@ services:
     ipc: host
     # Needed to display graphical applications
     privileged: true
+    depends_on:
+      - controller
+      - microros_agent
 
   # mapping
   mapping: