diff --git a/docker-compose.yml b/docker-compose.yml
index cabba4d..3590415 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -3,6 +3,7 @@ version: '3.8'
 services:
 
   gui-tools:
+    # runtime: nvidia
     build:
       context: ./guiTools/
 
@@ -14,6 +15,8 @@ services:
       # If running with Wayland
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
       - ROS_MASTER_URI=http://ros-master:11311
+      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
+      # - NVIDIA_VISIBLE_DEVICES=all
     volumes:
       # X11 socket
       - /tmp/.X11-unix:/tmp/.X11-unix
@@ -46,6 +49,7 @@ services:
     command: >
       ./Tools/autotest/sim_vehicle.py -v copter --no-rebuild
       --out=udpin:0.0.0.0:5000
+      --out=udpin:0.0.0.0:14551
       --enable-dds
     stdin_open: true
     tty: true
@@ -82,6 +86,26 @@ services:
       nofile:
         soft: 1024
         hard: 524288
+  mavros2:
+    #This service bridges our mavlink-based robot-coprosessor into ROS
+    #In this example it connects to a simulated coprocessor.
+    image: services-ros2-mavros
+    command: ros2 launch mavros px4.launch fcu_url:="udp://:14555@ardupilot:14551" tgt_system:="1"
+    #environment:
+    #  - "ROS_MASTER_URI=http://ros-master:11311"
+    depends_on:
+      ardupilot:
+        condition: service_started
+    restart: always
+    deploy:
+      resources:
+        limits:
+          # cpus: '0.01'
+          memory: 200M
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
 
   ros-master:
     image: git.spirirobotics.com/spiri/services-ros1-core:main