diff --git a/docker-compose.yaml b/docker-compose.yaml
index da30c8e..1cbec4b 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -140,8 +140,6 @@ services:
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
-    depends_on:
-      - localization
 
   # navigation
   navigation:
@@ -154,8 +152,6 @@ services:
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
-    depends_on:
-      - localization
   
   # bash
   bash:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 42d233e..3d2290f 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -42,7 +42,8 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
 
 # Use Cyclone DDS as middleware
 RUN apt-get update && apt-get install -y --no-install-recommends \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+ ros-${ROS_DISTRO}-xacro
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 ENV UNDERLAY_WS=${UNDERLAY_WS}
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
index 14fbec7..3702682 100644
--- a/docker/entrypoint.sh
+++ b/docker/entrypoint.sh
@@ -10,7 +10,7 @@ if [ -f ${UNDERLAY_WS}/install/setup.bash ]
 then
   source ${UNDERLAY_WS}/install/setup.bash
   #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
-  echo "Sourced Bot Mini base workspace"
+  echo "Sourced CPS RMP 220 base workspace"
 fi
 
 # Source the overlay workspace, if built
@@ -18,7 +18,7 @@ if [ -f /overlay_ws/install/setup.bash ]
 then
   source /overlay_ws/install/setup.bash
   #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
-  echo "Sourced Bot Mini overlay workspace"
+  echo "Sourced CPS RMP 220 Overlay workspace"
 fi
 
 # Execute the command passed into this entrypoint