diff --git a/docker-compose.yaml b/docker-compose.yaml
index 3070056..3de7250 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -87,13 +87,11 @@ services:
 
   # Controller
   controller:
-    extends: overlay 
+    extends: base 
     command: >
-      ros2 launch cps_rmp220_support robot_controller.launch.py
+      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/ttyUSB0
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
-      - /dev/ttyUSB1:/dev/ttyUSB1
-      - /dev/ttyACM0:/dev/ttyACM0
     # Interactive shell
     stdin_open: true
     tty: true
@@ -112,7 +110,7 @@ services:
   teleop:
     extends: overlay 
     command: >
-      ros2 launch cps_rmp220_support robot_joystick.launch.py 
+      ros2 launch rmp220_teleop robot_joystick.launch.py 
     devices:
       - /dev/input/js0:/dev/input/js0
     # Interactive shell