diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 1eaba85..c0f7bfb 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,11 @@
-FROM osrf/ros:iron-desktop
-ARG ROS_DISTRO=iron
+ARG ROS_DISTRO=jazzy
+FROM osrf/ros:$ROS_DISTRO-desktop
 ARG USERNAME=ros
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
 ENV DEBIAN_FRONTEND=noninteractive
-RUN groupadd --gid $USER_GID $USERNAME \
+RUN deluser ubuntu && groupadd --gid $USER_GID $USERNAME \
     && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
     && apt-get update \
     && apt-get install -y sudo \
@@ -23,28 +23,18 @@ RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrin
     apt-get update --fix-missing \
     && apt-get -y install \
     gz-harmonic \
+    python3-pip pre-commit \
     ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-ros2-control \
-    ros-$ROS_DISTRO-ros-gzharmonic-sim \
-    ros-$ROS_DISTRO-ros-gzharmonic-bridge \
+    ros-$ROS_DISTRO-ros-gz \
     ros-$ROS_DISTRO-ros2-controllers \
     ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
     ros-$ROS_DISTRO-gripper-controllers \
-    ament-lint \
+    ros-$ROS_DISTRO-gz-ros2-control \
     && apt-get autoremove -y \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
-
-ENV GZ_VERSION=harmonic
-RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
-    mkdir -p /gz_ros2_control_ws/src && mkdir -p /gz_ros2_control_ws/src && \
-    cd /gz_ros2_control_ws/src && \
-    git clone --branch iron https://github.com/ros-controls/gz_ros2_control && \
-    cd /gz_ros2_control_ws && \
-    colcon build
-
 ENV DEBIAN_FRONTEND=dialog
 
 ARG WORKSPACE
 RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /gz_ros2_control_ws/install/setup.bash ]; then source /gz_ros2_control_ws/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
-RUN pip3 install pre-commit
+    && echo "if [ -f /opt/ros/$ROS_DISTRO/setup.bash ]; then source /opt/ros/$ROS_DISTRO/setup.bash; fi" >> /home/$USERNAME/.bashrc
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 7ac1250..1e0cfa2 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -27,8 +27,7 @@
 		"LIBGL_ALWAYS_SOFTWARE": "1",
 		"NVIDIA_DRIVER_CAPABILITIES": "all",
 		"NVIDIA_VISIBLE_DEVICES": "all",
-		"QT_X11_NO_MITSHM": "1",
-		"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp"
+		"QT_X11_NO_MITSHM": "1"
 	},
 	// Set *default* container specific settings.json values on container create.
 	"customizations": {
diff --git a/ros2_grasp_service_demo/open_manipulator/open_manipulator_description/urdf/ros2_control.xacro b/ros2_grasp_service_demo/open_manipulator/open_manipulator_description/urdf/ros2_control.xacro
index 596acc3..66825c6 100644
--- a/ros2_grasp_service_demo/open_manipulator/open_manipulator_description/urdf/ros2_control.xacro
+++ b/ros2_grasp_service_demo/open_manipulator/open_manipulator_description/urdf/ros2_control.xacro
@@ -34,7 +34,6 @@
     <joint name="gripper_sub">
         <param name="mimic">gripper</param>
         <param name="multiplier">1</param>
-        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
     </joint>