diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index 23832aa..80c2ebd 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -46,6 +46,9 @@ jobs:
           username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
           password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
 
+      - name: Pull base image
+        run: docker pull ${{ inputs.base_image }}
+
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v5
@@ -79,4 +82,4 @@ jobs:
           labels: ${{ steps.meta.outputs.labels }}
           build-args: |
             BASE_IMAGE=${{ inputs.base_image }}
-            ROS_DISTRO=${{ inputs.ros_distro }}
\ No newline at end of file
+            ROS_DISTRO=${{ inputs.ros_distro }}
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index f2c6942..407675f 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -37,7 +37,7 @@ jobs:
     with:
       base_image:    nvidia/cuda:11.8.0-runtime-ubuntu22.04
       push_image:    ros_cuda
-      ros_distro:      humble
+      ros_distro:    humble
       dockerfile:    cuda.dockerfile
       architectures: linux/amd64
     secrets: inherit
@@ -45,7 +45,7 @@ jobs:
   ros-cuda-jazzy:
     uses: ./.github/workflows/_build-image.yaml
     with:
-      base_image:    nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
+      base_image:    nvidia/cuda:12.9.1-runtime-ubuntu24.04
       push_image:    ros_cuda
       ros_distro:    jazzy
       dockerfile:    cuda.dockerfile
diff --git a/base.dockerfile b/base.dockerfile
index 9eda8c9..1e9ead5 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -10,16 +10,23 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+RUN apt-get update \
+    && apt-get upgrade -y && \
+    apt-get install -y --no-install-recommends \
     build-essential \
+    ca-certificates \
+    gnupg \
     cmake \
     git \
     curl \
     wget \
     unzip \
     ros-${ROS_DISTRO}-ros-base \
-    python3-colcon-common-extensions \
-    && rm -rf /var/lib/apt/lists/*
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    python3-colcon-common-extensions && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV LANG=en_US.UTF-8
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
@@ -27,22 +34,30 @@ ARG USERNAME=ros
 ARG USER_UID=1001
 ARG USER_GID=$USER_UID
 
-# Create a non-root user
+# Create a non-root user and add sudo support for the non-root user
 RUN groupadd --gid $USER_GID $USERNAME \
-  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-  # Add sudo support for the non-root user
-  && apt-get update \
-  && apt-get install -y --no-install-recommends sudo \
-  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-  && chmod 0440 /etc/sudoers.d/$USERNAME \
-  && rm -rf /var/lib/apt/lists/*
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/*
+
+# Cyclone DDS Config
+COPY cyclonedds.xml /etc/cyclonedds.xml
 
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
+    echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \
     echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
     echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
     echo "alias t='tmux'" >> /etc/bash.bashrc && \
-    echo "alias cls='clear'" >> /etc/bash.bashrc
+    echo "alias cls='clear'" >> /etc/bash.bashrc && \
+    chown ${USERNAME}:${USER_GID} /home/${USERNAME}/.bashrc
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml
 
+USER ${USERNAME}
 CMD ["bash", "-l"]
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 3093ba2..0a4e2ec 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -11,26 +11,25 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Install language
-RUN apt-get update ; \
-  apt-get upgrade -y && \
-  apt-get install -y --no-install-recommends \
+RUN apt-get update \
+  && apt-get upgrade -y \
+  && apt-get install -y --no-install-recommends \
   locales \
   curl \
+  wget \
+  ca-certificates \
   gnupg2 \
   lsb-release \
   git \
   nano \
   python3-setuptools \
   software-properties-common \
-  wget \
   tzdata \
   && locale-gen en_US.UTF-8 \
   && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
   && rm -rf /var/lib/apt/lists/*
-ENV LANG=en_US.UTF-8
 
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+ENV LANG=en_US.UTF-8
 
 # Prepare ROS2
 RUN add-apt-repository universe \
@@ -40,8 +39,12 @@ RUN add-apt-repository universe \
 RUN apt-get update && apt-get install -y --no-install-recommends \
   ros-${ROS_DISTRO}-ros-base \
   python3-rosdep \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
   && rm -rf /var/lib/apt/lists/*
 
+# Cyclone DDS Config
+COPY cyclonedds.xml /etc/cyclonedds.xml
+
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
 
 # Setup VirtualGL
@@ -65,11 +68,15 @@ RUN groupadd --gid $USER_GID $USERNAME \
 
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
+  echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \
+  chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bashrc && \
   echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
   echo "alias t='tmux'" >> /etc/bash.bashrc && \
   echo "alias cls='clear'" >> /etc/bash.bashrc
-
+  
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml
 ENV TVNC_VGL=1
 ENV VGL_ISACTIVE=1
 ENV VGL_FPS=25
@@ -80,5 +87,6 @@ ENV VGL_PROBEGLX=0
 ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so
 ENV SHELL=/bin/bash
 
-CMD ["bash", "-l"]
+USER ${USERNAME}
 
+CMD ["bash", "-l"]
diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile
index 9e36983..30e7907 100644
--- a/cuda_desktop.dockerfile
+++ b/cuda_desktop.dockerfile
@@ -1,8 +1,8 @@
-ARG BASE_IMAGE
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/ros_cuda:humble-main
 
 ###########################################
 FROM ${BASE_IMAGE} AS base
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-desktop \
-    && rm -rf /var/lib/apt/lists/*
+    && sudo rm -rf /var/lib/apt/lists/*
diff --git a/docker/cyclonedds.xml b/docker/cyclonedds.xml
new file mode 100644
index 0000000..82132ff
--- /dev/null
+++ b/docker/cyclonedds.xml
@@ -0,0 +1,10 @@
+<CycloneDDS>
+  <Domain>
+    <General>
+      <AllowMulticast>true</AllowMulticast>
+    </General>
+    <Discovery>
+      <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>
\ No newline at end of file