diff --git a/docker-compose.yaml b/docker-compose.yaml
index e65e215..320512d 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -47,22 +47,21 @@ services:
           - linux/arm64
           - linux/amd64
 
-  # Overlay image containing the project specific source code.
-  final:
-    extends: overlay
-    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
-    build:
-      context: .
-      dockerfile: docker/Dockerfile
-      tags:
-        - ghcr.io/bjoernellens1/ros2_rmp/rmp:final
-      target: final
-      x-bake:
-        platforms:
-          - linux/arm64
-          - linux/amd64
-    command: >
-      ros2 launch cps_rmp220_support rsp.launch.py
+  # # Overlay image containing the project specific source code.
+  # final:
+  #   extends: overlay
+  #   image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
+  #   build:
+  #     context: .
+  #     dockerfile: docker/Dockerfile
+  #     tags:
+  #       - ghcr.io/bjoernellens1/ros2_rmp/rmp:final
+  #     target: final
+  #     x-bake:
+  #       platforms:
+  #         - linux/arm64
+  #         - linux/amd64
+  #   command: /bin/bash
 
   # Robot State Publisher
   robot_state_publisher:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index bdf2976..514c0d5 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -89,34 +89,35 @@ RUN chmod +x /localization_startup.sh
 
 ENTRYPOINT [ "/entrypoint.sh" ]
 
-###########################################
-# Packing it up into a smaller image by starting from scratch and copying related stuff #
-###########################################
-FROM ros:${ROS_DISTRO}-ros-core AS final
-COPY --from=overlay /overlay_ws/ /overlay_ws/
-COPY --from=overlay /opt/ros /opt/ros/
-COPY --from=overlay /usr/local/ /usr/local/
-# COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/
-# COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/
-# COPY --from=overlay /lib/x86_64-linux-gnu/libpthread.so.0 /lib/x86_64-linux-gnu/
-# COPY --from=overlay /lib/x86_64-linux-gnu/librt.so.1 /lib/x86_64-linux-gnu/
-# COPY --from=overlay /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
-# COPY --from=overlay /lib/x86_64-linux-gnu/libc.so.6 /lib/x86_64-linux-gnu/
-# COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/
+# ###########################################
+# # Packing it up into a smaller image by starting from scratch and copying related stuff #
+# ###########################################
+# FROM ros:${ROS_DISTRO}-ros-core AS final
+# COPY --from=overlay /overlay_ws/ /overlay_ws/
+# COPY --from=overlay /rmp_ws /rmp_ws
+# COPY --from=overlay /opt/ros /opt/ros/
+# COPY --from=overlay /usr/local/ /usr/local/
+# # COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/
+# # COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/
+# # COPY --from=overlay /lib/x86_64-linux-gnu/libpthread.so.0 /lib/x86_64-linux-gnu/
+# # COPY --from=overlay /lib/x86_64-linux-gnu/librt.so.1 /lib/x86_64-linux-gnu/
+# # COPY --from=overlay /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
+# # COPY --from=overlay /lib/x86_64-linux-gnu/libc.so.6 /lib/x86_64-linux-gnu/
+# # COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/
 
-# Set up environment variables
-ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
-ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
+# # Set up environment variables
+# ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
+# ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
 
-# Copy necessary entrypoint and scripts
-COPY ./docker/entrypoint.sh /
-COPY ./controller_startup.sh /
-COPY ./localization_startup.sh /
+# # Copy necessary entrypoint and scripts
+# COPY ./docker/entrypoint.sh /
+# COPY ./controller_startup.sh /
+# COPY ./localization_startup.sh /
 
-# Set permissions for scripts
-RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
+# # Set permissions for scripts
+# RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
 
-# Set up the entrypoint
-ENTRYPOINT [ "/entrypoint.sh" ]
+# # Set up the entrypoint
+# ENTRYPOINT [ "/entrypoint.sh" ]
 
-LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
\ No newline at end of file
+# LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
\ No newline at end of file