diff --git a/Dockerfile.Simulator b/Dockerfile.Simulator
index 54dadae..67ee905 100644
--- a/Dockerfile.Simulator
+++ b/Dockerfile.Simulator
@@ -1,70 +1,9 @@
-FROM osrf/ros:noetic-desktop-full
-
-
-ARG TELEOP_CONTROLLER
-ENV TELEOP_CONTROLLER=${TELEOP_CONTROLLER}
-
-ARG ENABLE_MANIPULATOR
-ENV ENABLE_MANIPULATOR=${ENABLE_MANIPULATOR}
-
-ARG OPEN_MANIPULATOR_GUI
-ENV MANIPULATOR_GUI=${MANIPULATOR_GUI}
-
-ARG WORLD_NAME
-ENV WORLD_NAME=${WORLD_NAME}
-
-
-ENV NVIDIA_VISIBLE_DEVICES \
-    ${NVIDIA_VISIBLE_DEVICES:-all}
-ENV NVIDIA_DRIVER_CAPABILITIES \
-    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
+FROM osrf/ros:jazzy-desktop
 
 WORKDIR /home/
 
-RUN apt-get update &&\
-    apt-get install -y\
-    gazebo11 \
-    build-essential \
-    python3-osrf-pycommon \
-    python3-catkin-tools \
-    python3-rosdep \
-    libignition-rendering3 \
-    git \
-    xvfb
-
-
-RUN mkdir -p catkin_ws/src 
-
-WORKDIR /home/catkin_ws/src/
-
-RUN git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git &&\
-    git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git &&\
-    git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git &&\
-    git clone https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
-
-
-COPY ./ros_packages/ /home/catkin_ws/src/
-COPY ./docker_scripts/install_dep.sh /home/
-RUN /home/install_dep.sh
-
-RUN mkdir -p /usr/share/gazebo-11/models
-COPY ./models /usr/share/gazebo-11/models
-COPY ./docker_scripts/setup.sh /usr/share/gazebo-11/setup.sh
-COPY ./docker_scripts/setup.sh /usr/share/gazebo/setup.sh
-
-COPY ./config /home/config
-COPY ./docker_scripts/entrypoint.sh /home/
-COPY ./worlds /home/catkin_ws/src/isar_turtlebot/worlds/
-COPY ./maps /home/catkin_ws/src/isar_turtlebot/maps/
-
-
-# Change user to avoid running as root
-# User needs to have an explicit guid for radix
-RUN useradd -ms /bin/bash --uid 1001 -g users turtle_sim
-RUN chown -R 1001 /home
-RUN chmod 755 /home
+COPY /docker_scripts/install_sim.sh /home/
 
-USER 1001
+RUN bash /home/install_sim.sh
 
-CMD /home/entrypoint.sh
+CMD ["sleep", "infinity"]
diff --git a/docker-compose.yml b/docker-compose.yml
index acf29b5..caed6e2 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,23 +1,19 @@
-version: "2.3"
 services:
-  noetic:
+  simulator:
     image: turtle_sim:latest
     container_name: turtle_sim
+    platform: linux/amd64
     build:
       context: ./
       dockerfile: Dockerfile.Simulator
-    ports:
-      - "9090:9090"
-      - "5000:5000"
-    environment:
-      - TELEOP_CONTROLLER=${TELEOP_CONTROLLER:-disabled}
-      - ENABLE_MANIPULATOR=${ENABLE_MANIPULATOR:-false}
-      - MANIPULATOR_GUI=${MANIPULATOR_GUI:-disabled}
-      - HEADLESS=${HEADLESS:-true}
-      - WORLD_NAME=${WORLD_NAME:-house}
     tty: true
     networks:
       - turtlenet
+    environment:
+      - DISPLAY=${DISPLAY}  # for gazebo gui
+    privileged: true  # for gazebo gui
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro  # for gazebo gui
 networks:
   turtlenet:
     name: turtlenet
diff --git a/docker_scripts/install_sim.sh b/docker_scripts/install_sim.sh
new file mode 100644
index 0000000..df82903
--- /dev/null
+++ b/docker_scripts/install_sim.sh
@@ -0,0 +1,22 @@
+#!/bin/bash/
+
+curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+apt-get update
+apt-get install -y ros-dev-tools gz-harmonic
+
+mkdir -p /home/turtlebot4_ws/src
+cd /home/turtlebot4_ws/src
+
+git clone https://github.com/turtlebot/turtlebot4_simulator.git -b jazzy
+cd /home/turtlebot4_ws
+rosdep install --from-path src -yi
+
+source /opt/ros/jazzy/setup.bash
+colcon build --symlink-install
+
+source /home/turtlebot4_ws/install/setup.bash
+
+echo 'source /opt/ros/jazzy/setup.bash' >> /home/.bashrc
+echo 'source /home/turtlebot4_ws/install/setup.bash'>> /home/.bashrc