diff --git a/Dockerfile b/Dockerfile
index 0a543866..7f335550 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -13,13 +13,13 @@ RUN sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh
 ENV WS=/ws
 RUN mkdir -p $WS/src
 COPY ./ .$WS/src/depthai-ros
-# RUN cd .$WS/ && rosdep install --from-paths src --ignore-src  -y
+RUN cd .$WS/ && rosdep install --from-paths src --ignore-src  -y
 
-# RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && ./src/depthai-ros/build.sh -s $BUILD_SEQUENTIAL -r 1 -m 1 
-# RUN if [ "$USE_RVIZ" = "1" ] ; then echo "RVIZ ENABLED" && sudo apt install -y ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-rviz-imu-plugin ; else echo "RVIZ NOT ENABLED"; fi
-# RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
-# RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc
-# RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc
-# RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
-# ENTRYPOINT [ "/ws/src/depthai-ros/entrypoint.sh" ]
+RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && ./src/depthai-ros/build.sh -s $BUILD_SEQUENTIAL -r 1 -m 1 
+RUN if [ "$USE_RVIZ" = "1" ] ; then echo "RVIZ ENABLED" && sudo apt install -y ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-rviz-imu-plugin ; else echo "RVIZ NOT ENABLED"; fi
+RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
+RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc
+RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc
+RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
+ENTRYPOINT [ "/ws/src/depthai-ros/entrypoint.sh" ]
 CMD ["zsh"]
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