diff --git a/build_ros/Dockerfile b/build_ros/Dockerfile
index b0679a6..aa4159d 100755
--- a/build_ros/Dockerfile
+++ b/build_ros/Dockerfile
@@ -10,7 +10,7 @@ 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-utils mesa-utils && rm -rf /var/lib/apt/lists/*
 #Utils
-RUN apt-get update && apt-get install -y git ninja-build git bash-completion && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y git ninja-build git bash-completion clangd-12 && rm -rf /var/lib/apt/lists/*
 #Rosdeps
 RUN apt-get update && apt-get install -y git ros-galactic-ament-cmake ros-galactic-moveit ros-galactic-behaviortree-cpp-v3 ros-galactic-ros-ign-gazebo && rm -rf /var/lib/apt/lists/*
 
diff --git a/build_ros/entrypoint.sh b/build_ros/entrypoint.sh
index e4b6b6a..60f81ce 100755
--- a/build_ros/entrypoint.sh
+++ b/build_ros/entrypoint.sh
@@ -30,7 +30,10 @@ fi
 
 echo "ros:ros" | chpasswd
 su ros -c "printf 'source /opt/ros/$ROS_DISTRO/setup.bash\nsource /home/ros/workspace/install/setup.bash' > ~/.rosrc"
-printf "DISPLAY=$DISPLAY" > /etc/profile.d/display.sh
+printf "export DISPLAY=$DISPLAY" > /etc/profile.d/display.sh
+printf "export XAUTHORITY=$XAUTHORITY" > /etc/profile.d/xauth.sh
+chmod +x /etc/profile.d/display.sh
+chmod +x /etc/profile.d/xauth.sh
 
 echo "Ready to connect."