diff --git a/.gitignore b/.gitignore
old mode 100644
new mode 100755
diff --git a/.gitmodules b/.gitmodules
old mode 100644
new mode 100755
diff --git a/README.md b/README.md
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diff --git a/background.png b/background.png
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diff --git a/docker-compose.yml b/docker-compose.yml
old mode 100644
new mode 100755
index 5bc6b75..0328af9
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -3,7 +3,7 @@ version: '3.8'
 services:
 
   gui-tools:
-    # runtime: nvidia
+    runtime: nvidia
     build:
       context: ./guiTools/
 
@@ -22,7 +22,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
       # Wayland socket
-      - ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
+      #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
       # Allow access to the host's GPU
       - /dev/dri:/dev/dri
     devices:
@@ -35,22 +35,23 @@ services:
     # restart: unless-stopped
     # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
     profiles: [ui,]
-    deploy:
-      resources:
-        reservations:
-          devices:
-           - driver: cdi
-             device_ids:
-                - nvidia.com/gpu=all
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #        - driver: cdi
+    #          device_ids:
+    #             - nvidia.com/gpu=all
 
 
   ardupilot:
     image: git.spirirobotics.com/spiri/ardupilot:spiri-master
-    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
+    command:
+      - /bin/bash
+      - -c
+      - |
+        ./Tools/autotest/sim_vehicle.py -v ArduCopter -f gazebo-iris --model=JSON --no-rebuild \
+        --enable-dds --sim-address=$(python3 -c 'import socket; print(socket.gethostbyname("gz-test"))') --no-mavproxy
     stdin_open: true
     tty: true
 
@@ -58,8 +59,11 @@ services:
     image: git.spirirobotics.com/spiri/services-mavproxy:main
     command: >
       mavproxy.py --non-interactive
-      --out=tcpin:0.0.0.0:5760
-      --master=udpout:ardupilot:5000
+      --out tcpin:0.0.0.0:5760
+      --master tcp:ardupilot:5760 
+      --out udpin:0.0.0.0:14550
+      --out udpin:0.0.0.0:14551
+      --out udpin:0.0.0.0:5000
     restart: always
     ports:
       - 5760:5760
@@ -90,7 +94,7 @@ services:
     #This service bridges our mavlink-based robot-coprosessor into ROS
     #In this example it connects to a simulated coprocessor.
     image: git.spirirobotics.com/spiri/services-ros2-mavros:main
-    command: ros2 launch mavros px4.launch fcu_url:="udp://:14555@ardupilot:14551" tgt_system:="1"
+    command: ros2 launch mavros px4.launch fcu_url:="udp://:14555@mavproxy:14551" tgt_system:="1"
     #environment:
     #  - "ROS_MASTER_URI=http://ros-master:11311"
     depends_on:
diff --git a/guiTools/Dockerfile b/guiTools/Dockerfile
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new mode 100755
diff --git a/guiTools/launcher.py b/guiTools/launcher.py
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