diff --git a/build_ros/Dockerfile b/build_ros/Dockerfile
index 2adb20b..2415682 100755
--- a/build_ros/Dockerfile
+++ b/build_ros/Dockerfile
@@ -9,9 +9,9 @@ RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y xserver-
 #Vulkan
 RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-tools mesa-utils && rm -rf /var/lib/apt/lists/*
 #Utils
-RUN apt-get update && apt-get install -y git ninja-build git bash-completion clangd ccls && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y gdb clang-format git ninja-build git bash-completion clangd ccls && rm -rf /var/lib/apt/lists/*
 #Rosdeps
-RUN apt-get update && apt-get install -y git ros-humble-ament-cmake ros-humble-moveit ros-humble-behaviortree-cpp-v3 ros-humble-ros-ign-gazebo && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y ros-humble-ament-cmake ros-humble-moveit ros-humble-behaviortree-cpp-v3 ros-humble-gazebo-ros ros-humble-ros-gz-sim ros-humble-ros2-control ros-humble-gazebo-ros2-control && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir /run/sshd