diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 966f2c1..63803ca 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,16 +1,46 @@
+FROM osrf/ros:iron-desktop
 ARG ROS_DISTRO=iron
-FROM althack/ros2:$ROS_DISTRO-gazebo
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
 
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update --fix-missing \
-    && apt-get -y install --no-install-recommends \
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y python3-pip
+ENV DEBIAN_FRONTEND=dialog
+ENV SHELL /bin/bash
+
+RUN apt-get update && sudo apt-get install -y lsb-release wget gnupg
+
+RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+    apt-get update --fix-missing \
+    && apt-get -y install \
+    gz-harmonic \
     ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-ros2-control \
-    ros-$ROS_DISTRO-gazebo-ros2-control \
-    ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    ros-$ROS_DISTRO-ros-gzharmonic-sim \
+    ros-$ROS_DISTRO-ros-gzharmonic-bridge \
+    ros-$ROS_DISTRO-ros2-controllers \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
     ros-$ROS_DISTRO-gripper-controllers \
     && apt-get autoremove -y \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
+
+ENV GZ_VERSION=harmonic
+RUN . /opt/ros/${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