diff --git a/.github/workflows/docker-build-opengl.yaml b/.github/workflows/docker-build-opengl.yaml
index c0207ba..9dec344 100644
--- a/.github/workflows/docker-build-opengl.yaml
+++ b/.github/workflows/docker-build-opengl.yaml
@@ -39,7 +39,7 @@ jobs:
 
             - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
               ros_distro: rolling
-              push_tag: noble-rolling-12.6.3-opengl
+              push_tag: noble-rolling-cuda12.6-opengl
   
     steps:
     - name: Node Js
@@ -128,7 +128,7 @@ jobs:
 
             - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
               ros_distro: rolling
-              push_tag: noble-rolling-12.6.3-opengl-arm64
+              push_tag: noble-rolling-cuda12.6-opengl-arm64
 
     steps:
     - name: Node Js
diff --git a/compose.yaml b/compose.yaml
index 91ff6fa..5b02291 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -1,6 +1,6 @@
 services:
   lcas_desktop:
-    image: lcas.lincoln.ac.uk/lcas/ros:noble-rolling-12.6.3-opengl
+    image: lcas.lincoln.ac.uk/lcas/ros:noble-rolling-cuda12.6-opengl
     restart: unless-stopped
     build:
       context: .
@@ -12,6 +12,7 @@ services:
       - "${VNC_PORT:-5801}:5801"
     command: bash -c "while true; do sleep 5; done"
     volumes:
+      # persist user's home
       - user_home:/home/ros
 
 volumes:
diff --git a/nvidia.dockerfile b/nvidia.dockerfile
index 99f3ccb..a1fdf80 100644
--- a/nvidia.dockerfile
+++ b/nvidia.dockerfile
@@ -203,10 +203,13 @@ RUN curl -L -O https://github.com/TurboVNC/turbovnc/releases/download/3.1.1/turb
 RUN addgroup --gid 1002 vglusers && adduser ros video && adduser ros vglusers
 RUN apt-get update && \
     apt-get -y install xfce4-session xfce4-panel xfce4-terminal thunar xterm x11-utils python3-minimal python3-pip python3-numpy python3-venv unzip less tmux screen \
-        geany-plugins geany && \
+        geany-plugins geany \
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+        && \
     rm -rf /var/lib/apt/lists/*
 
-ENV DEBIAN_FRONTEND=
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
 
 # Install noVNC