diff --git a/docker-compose.yaml b/docker-compose.yaml
index 41daf29..a955d0a 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -82,8 +82,7 @@ services:
     ipc: host
     environment:
       - ROS_DOMAIN_ID=5
-    profiles:
-      - robot
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # Controller
   controller:
@@ -104,10 +103,8 @@ services:
     # depends_on:
     #   - robot_state_publisher
     environment:
-    - ROS_DOMAIN_ID=5
-    restart: unless-stopped
-    profiles:
-      - robot
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # teleop
   teleop:
@@ -125,9 +122,8 @@ services:
     # Needed to display graphical applications
     privileged: true
     environment:
-    - ROS_DOMAIN_ID=5
-    profiles:
-      - robot
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # lidar
   lidar:
@@ -142,13 +138,12 @@ services:
     # depends_on:
     #   - robot_state_publisher
     environment:
-    - ROS_DOMAIN_ID=5
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     devices:
       - /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
 #       SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
 # SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
-    profiles:
-      - robot
 
 
   # localiaztion by ekf node
@@ -163,7 +158,8 @@ services:
     network_mode: host
     ipc: host
     environment:
-    - ROS_DOMAIN_ID=5
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # mapping
   mapping:
@@ -178,6 +174,7 @@ services:
     ipc: host
     environment:
     - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # slam-toolbox-localization
   localization:
@@ -192,6 +189,7 @@ services:
     ipc: host
     environment:
       - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # amcl_localization
   amcl:
@@ -206,8 +204,7 @@ services:
     ipc: host
     environment:
       - ROS_DOMAIN_ID=5
-    profiles:
-      - robot
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # navigation
   navigation:
@@ -222,8 +219,7 @@ services:
     ipc: host
     environment:
       - ROS_DOMAIN_ID=5
-    profiles:
-      - robot
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
   
   # bash
   bash:
@@ -237,6 +233,7 @@ services:
     ipc: host
     environment:
     - ROS_DOMAIN_ID=5
+    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # rviz2
   rviz2:
@@ -259,6 +256,7 @@ services:
       - 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