diff --git a/docker/my_example.Dockerfile b/docker/my_example.Dockerfile
index ce0511c..55b9e12 100644
--- a/docker/my_example.Dockerfile
+++ b/docker/my_example.Dockerfile
@@ -24,13 +24,10 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
   && apt-get update -y \
   && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-turtlesim \
-   ros-${ROS_DISTRO}-rqt 
-  #&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
-  && colcon build --symlink-install \
+   ros-${ROS_DISTRO}-rqt\
   && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-
-#ENV UNDERLAY_WS=/base_ws
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && colcon build --symlink-install
 
 # Set up the entrypoint
 COPY ./docker/my_entrypoint.sh /entrypoint.sh
@@ -42,16 +39,28 @@ RUN vcs pull src
 ENTRYPOINT [ "/entrypoint.sh" ]
 
 
-###########################################
-# Overlay Image                           #
-###########################################
+#############################################################
+# Overlay Image -- Building Unitree GO1 ROS2 implementation #
+#############################################################
 FROM base AS overlay
 
 # Create an overlay Colcon workspace
 RUN mkdir -p /overlay_ws/src
 WORKDIR /overlay_ws/src
 COPY my_extended.repos ./overlay.repos
-RUN vcs import < overlay.repos
+RUN vcs import < overlay.repos \
+  && cd unitree_ros2_to_real \
+  && git clone -b v3.5.1 https://github.com/unitreerobotics/unitree_legged_sdk \
+  && mv ros2_unitree_legged_msgs/ ..
+WORKDIR /lcm_ws
+RUN cd /lcm_ws \
+  && git clone -b v1.4.0 https://github.com/lcm-proj/lcm \
+  && cd lcm \
+  && mkdir build \
+  && cd build \
+  && cmake ../ \
+  && make \
+  && make install \
 
 WORKDIR /overlay_ws
 
@@ -60,13 +69,12 @@ ENV DEBIAN_FRONTEND noninteractive
 RUN source /base_ws/install/setup.bash \
   && apt-get update \
   && DEBIAN_FRONTEND=noninteractive apt-get install \
-    nano #\
-  #&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+    nano \
+  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
   && rm -rf /var/lib/apt/lists/*
 
 RUN source /base_ws/install/setup.bash \
-  && colcon build --symlink-install \
-  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+  && colcon build --symlink-install
 
 # Set up the entrypoint
 COPY ./docker/my_entrypoint.sh /entrypoint.sh