diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..c7ffee5
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+/protobuf_aarch
+/trtdeb
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index d8abe49..98ba4d1 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -11,6 +11,38 @@ ENV __GLX_VENDOR_LIBRARY_NAME=nvidia
 ENV PATH="/usr/local/cuda/bin:${PATH}"
 ENV LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}"
 ENV LD_LIBRARY_PATH="/usr/local/tensorrt/lib:${LD_LIBRARY_PATH}"
+ENV CUDA_TOOLKIT_ROOT="/usr/local/cuda-11.4"
+
+#TensorRT update
+COPY ./trtdeb /home/trtdeb
+RUN dpkg -i /home/trtdeb/x86/*.deb
+RUN dpkg -i /home/trtdeb/aarch/*.deb
+RUN rm -rf /home/trtdeb
+
+#Protobuf
+RUN apt update && apt install libprotobuf-dev -y
+COPY ./protobuf_aarch/usr/lib/aarch64-linux-gnu/* /usr/lib/aarch64-linux-gnu/
+
+#rootfs fix
+RUN rm /drive/drive-linux/filesystem/targetfs/usr/lib/aarch64-linux-gnu/librt.so
+RUN ln -s /usr/aarch64-linux-gnu/lib/librt.so /drive/drive-linux/filesystem/targetfs/usr/lib/aarch64-linux-gnu/librt.so
+
+#ROS2
+RUN apt update && apt install locales -y
+RUN locale-gen en_US en_US.UTF-8
+RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+RUN export LANG=en_US.UTF-8
+RUN apt install software-properties-common -y
+RUN add-apt-repository universe
+RUN apt update && apt install curl gnupg2 lsb-release -y
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+RUN export DEBIAN_FRONTEND=noninteractive && apt update && apt install ros-foxy-desktop -y 
+RUN source /opt/ros/foxy/setup.bash
+RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
+WORKDIR /opt/ros
+RUN ln -sfn foxy ros2
+
 
 # set userinfo
 RUN useradd -rm -c ${user} -u 1000 -d /home/${user} -s /bin/bash -G sudo ${user}
@@ -21,5 +53,6 @@ RUN echo "$user   ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 RUN mkdir -p /home/${user}/workspace/
 RUN chown -R ${user}:users /home/${user}
 COPY .bashrc /home/${user}/.bashrc
+RUN echo "source /opt/ros/foxy/setup.bash" >> /home/${user}/.bashrc
 WORKDIR /home/${user}
 USER ${user}
diff --git a/scripts/start.sh b/scripts/start.sh
index a595213..c59a796 100755
--- a/scripts/start.sh
+++ b/scripts/start.sh
@@ -1 +1 @@
-docker run -it --gpus '"device=0"' -e DISPLAY -v /dev/bus/usb:/dev/bus/usb -v /drive_flashing:/drive_flashing -v /tmp/.X11-unix:/tmp/.X11-unix -v /home/jiayu/1_Projects:/home/jiayu/1_Projects -v /home/jiayu/2_Testing:/home/jiayu/2_Testing -e LINUX_TOP=/drive/drive-linux --net=host --privileged --sysctl fs.mqueue.msg_max=4096     --sysctl fs.mqueue.queues_max=512 --ulimit msgqueue=2097152 git.jiayudev.com:30008/docker/driveos:6.0.4
+docker run -it --gpus '"device=0"' -e DISPLAY -v /dev/bus/usb:/dev/bus/usb -v /drive_flashing:/drive_flashing -v /tmp/.X11-unix:/tmp/.X11-unix -v /home/jiayu/1_Projects:/home/jiayu/1_Projects -v /home/jiayu/2_Testing:/home/jiayu/2_Testing -e LINUX_TOP=/drive/drive-linux --net=host --privileged --sysctl fs.mqueue.msg_max=4096     --sysctl fs.mqueue.queues_max=512 --ulimit msgqueue=2097152 --name=driveos git.jiayudev.com:30008/docker/driveos:latest
diff --git a/scripts/start_old.sh b/scripts/start_old.sh
new file mode 100755
index 0000000..a595213
--- /dev/null
+++ b/scripts/start_old.sh
@@ -0,0 +1 @@
+docker run -it --gpus '"device=0"' -e DISPLAY -v /dev/bus/usb:/dev/bus/usb -v /drive_flashing:/drive_flashing -v /tmp/.X11-unix:/tmp/.X11-unix -v /home/jiayu/1_Projects:/home/jiayu/1_Projects -v /home/jiayu/2_Testing:/home/jiayu/2_Testing -e LINUX_TOP=/drive/drive-linux --net=host --privileged --sysctl fs.mqueue.msg_max=4096     --sysctl fs.mqueue.queues_max=512 --ulimit msgqueue=2097152 git.jiayudev.com:30008/docker/driveos:6.0.4