diff --git a/DockerFiles/README.md b/DockerFiles/README.md
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+Installation instructions for the DISCOWER sitl docker image!
+
+# Pre-requisites
+## First we install the nvidia container toolkit for gpu usage with docker
+https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
+
+## Then we obtain the default kasm docker image from here: https://hub.docker.com/r/kasmweb/ubuntu-jammy-desktop/tags
+docker pull kasmweb/core-jammy-desktop:1.14.0-rolling
+
+
+
+
+# Build the docker
+`docker build -t ff_ros2_DISCOWER -f docker_file_kasm_ubuntu_jammy_DISCOWER .`
+
+now change the id that you get in 'docker image list' (IMAGE ID) in the run_kasm_ros.sh file (line 4)
+
+## Run the setup file
+./run_kasm_ros.sh
+
+## GUI support
+open `https://127.0.0.1:10334` in your browser
+
+## Stop and Start the docker image
+You shouldn't have to run the `.sh` script again
+`docker stop ff_ros2_DISCOWER_container`
+`docker start ff_ros2_DISCOWER_container`
+and go to your browser
+
+
+
+
+# In the docker instance
+
+## Run the PX4 sim
+
+`cd ~/discower_gits/PX4-Space-Systems`
+`make px4_sitl gz_spacecraft_2d`
+
+## Run micro-ROS 
+
+`ros2 run micro_ros_agent micro_ros_agent upd4 --port 8888`
+
+Now you should see the the /fmu/ topics being published!
+
+ 
diff --git a/DockerFiles/docker_file_discower_GUI b/DockerFiles/docker_file_discower_GUI
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+FROM kasmweb/core-ubuntu-jammy:1.14.0-rolling
+USER root
+ENV HOME /home/kasm-default-profile
+ENV STARTUPDIR /dockerstartup
+ENV INST_SCRIPTS $STARTUPDIR/install
+WORKDIR $HOME
+
+
+######### Customize Container Here ###########
+ARG KUH=/home/kasm-user
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install -y libomp5 zsh bash && \
+    rm -rf /var/lib/apt/list/* && \
+    echo 'kasm-user ALL=(ALL) NOPASSWD: ALL' >> /etc/sudoers && \
+    true
+
+
+
+#########
+# ROS 2 #
+#########
+# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+ENV ROS_DISTRO humble
+ENV ROS_PYTHON_VERSION 3
+
+RUN add-apt-repository universe
+RUN apt-get update && apt install -y curl
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+RUN apt-get update && apt-get install -y \
+	software-properties-common \
+	build-essential \
+	python3-colcon-common-extensions \
+	python3-rosdep \
+	python3-vcstool \
+	&& rm -rf /var/lib/apt/lists*
+RUN rosdep init && rosdep update
+
+RUN apt-get update && apt-get install -y ros-humble-desktop
+
+RUN echo "source /opt/ros/humble/setup.bash" >> /home/kasm-user/.bashrc
+RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash"]
+
+
+
+#############
+# Micro-ROS #
+#############
+# https://micro.ros.org/docs/tutorials/core/first_application_linux/
+RUN apt-get install -y python3-pip
+RUN pip install -U rosdep colcon-common-extensions jsonschema
+
+RUN mkdir -p /home/kasm-user/microros_ws/src && cd /home/kasm-user/microros_ws
+RUN git clone -b humble https://github.com/micro-ROS/micro_ros_setup.git /home/kasm-user/microros_ws/src/micro_ros_setup
+
+WORKDIR /home/kasm-user/microros_ws
+RUN rosdep update --rosdistro humble && rosdep install --from-paths src --ignore-src -y
+RUN . /opt/ros/humble/setup.sh && colcon build
+
+RUN ls /home/kasm-user/microros_ws/src/micro_ros_setup
+RUN echo "source /home/kasm-user/microros_ws/install/local_setup.bash" >> /home/kasm-user/.bashrc
+RUN . /home/kasm-user/microros_ws/install/local_setup.sh
+
+
+# Create firmware
+RUN . /opt/ros/humble/setup.sh && . /home/kasm-user/microros_ws/install/local_setup.sh && ros2 run micro_ros_setup create_firmware_ws.sh host
+RUN . /opt/ros/humble/setup.sh && . /home/kasm-user/microros_ws/install/local_setup.sh && ros2 run micro_ros_setup build_firmware.sh
+
+# Create mciro-ROS agent
+RUN . /opt/ros/humble/setup.sh && . /home/kasm-user/microros_ws/install/local_setup.sh && ros2 run micro_ros_setup create_agent_ws.sh
+RUN . /opt/ros/humble/setup.sh && . /home/kasm-user/microros_ws/install/local_setup.sh && ros2 run micro_ros_setup build_agent.sh
+
+
+
+#################
+# Gazebo Garden #
+#################
+# https://gazebosim.org/docs/garden/install_ubuntu_src
+RUN echo 'export PATH="/home/kasm-user/.local/bin:${PATH}"' >> /home/kasm-user/.bashrc
+
+RUN mkdir -p /home/kasm-user/gazebo_ws/src
+WORKDIR /home/kasm-user/gazebo_ws/src
+RUN wget https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-garden.yaml -P /home/kasm-user/gazebo_ws/src
+RUN ls /home/kasm-user/gazebo_ws/src
+RUN vcs import < collection-garden.yaml
+
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN 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
+RUN apt-get update
+
+RUN sudo apt -y install $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')
+
+
+
+##################
+# QGroundControl #
+##################
+RUN pip install aqtinstall
+RUN mkdir /home/kasm-user/qt 
+WORKDIR /kasm-user/qt
+RUN aqt install-qt --outputdir /home/kasm-user/qt linux desktop 6.6.3 gcc_64 -m qt5compat qtshadertools qtquick3d qtcharts qtconnectivity qtlocation qtmultimedia qtpositioning qtsensors qtserialport qtspeech
+
+# append folder to CMAKE_PREFIX_PATH
+RUN echo "export CMAKE_PREFIX_PATH=/home/kasm-user/qt/6.6.3/gcc_64/lib/cmake:$CMAKE_PREFIX_PATH" >> /home/kasm-user/.bashrc
+ENV CMAKE_PREFIX_PATH /home/kasm-user/qt/6.6.3/gcc_64/lib/cmake:$CMAKE_PREFIX_PATH
+ENV PATH /home/kasm-user/qt/6.6.3/gcc_64/bin:$PATH
+ENV LD_LIBRARY_PATH /home/kasm-user/qt/6.6.3/gcc_64/lib:$LD_LIBRARY_PATH
+ENV QT_PLUGIN_PATH /home/kasm-user/qt/6.6.3/gcc_64/plugins:$QT_PLUGIN_PATH
+
+RUN ls /home/kasm-user/qt/6.6.3
+# https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html
+WORKDIR /home/kasm-user/qgroundcontrol
+RUN git clone --recursive https://github.com/DISCOWER/qgroundcontrol.git /home/kasm-user/qgroundcontrol
+RUN cd /home/kasm-user/qgroundcontrol && git submodule update --recursive
+RUN . /home/kasm-user/qgroundcontrol/tools/setup/install-dependencies-debian.sh
+RUN cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug
+RUN cmake --build build --config Debug
+
+
+
+##################
+# DISCOWER stuff #
+##################
+### CUSTOM GZ-SIM
+RUN pip install kconfiglib symforce pyros-genmsg future
+
+# We replace gz-sim with our DISCOWER version (for spacecraft)
+WORKDIR /home/kasm-user/gazebo_ws
+RUN cd /home/kasm-user/gazebo_ws/src
+RUN rm -rf /home/kasm-user/gazebo_ws/src/gz-sim && git clone -b pr-spacecraft-thrusters https://github.com/DISCOWER/gz-sim.git /home/kasm-user/gazebo_ws/src/gz-sim
+
+#RUN apt-get update && apt-get install -y libgz-cmake3-dev
+RUN ls /home/kasm-user/gazebo_ws/src
+RUN . /opt/ros/humble/setup.sh && colcon build --merge-install
+
+RUN echo "source /home/kasm-user/gazebo_ws/install/setup.bash" >> /home/kasm-user/.bashrc
+
+### PX4-SPACE-SYSTEMS
+RUN mkdir /home/kasm-user/discower_gits
+WORKDIR /home/kasm-user/discower_gits
+RUN git clone https://github.com/DISCOWER/PX4-Space-Systems.git /home/kasm-user/discower_gits/PX4-Space-Systems
+
+### PX4_MSGS
+RUN mkdir -p /home/kasm-user/ff_ws/src
+RUN git clone https://github.com/DISCOWER/px4_msgs.git /home/kasm-user/ff_ws/src/px4_msgs
+WORKDIR /home/kasm-user/ff_ws
+RUN . /opt/ros/humble/setup.sh && colcon build
+
+RUN echo "source /home/kasm-user/ff_ws/install/setup.bash" >> /home/kasm-user/.bashrc
+
+######### End Customizations ###########
+
+RUN mkdir -p /home/kasm-user/Desktop/Uploads
+
+RUN chown 1000:0 $HOME
+RUN $STARTUPDIR/set_user_permission.sh $HOME
+ENV HOME /home/kasm-user
+WORKDIR $HOME
+RUN mkdir -p $HOME && chown -R 1000:0 $HOME
+USER 1000
diff --git a/DockerFiles/run_kasm_ros.sh b/DockerFiles/run_kasm_ros.sh
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+++ b/DockerFiles/run_kasm_ros.sh
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+# Configurable variables
+DOCKER_IMAGE=599631481fe0
+
+WEB_PORT=10334
+SSH_PORT=7901
+CONTAINER_NAME=discower_GUI
+VNC_PASSWORD=password
+# NOETIC_BASE_DIR=${HOME}/workspace/ros_noetic
+
+# Check if a container with the same name already exists
+if [ $(docker ps -aq -f name=^${CONTAINER_NAME}$) ]; then
+    echo "A container with the name $CONTAINER_NAME already exists."
+    # Choose what to do here: stop/remove the existing container, or exit
+    # docker stop $CONTAINER_NAME
+    # docker rm $CONTAINER_NAME
+    # or
+    exit 1
+fi
+
+# Run the Docker container
+if command -v nvidia-smi &> /dev/null; then
+    # if we have an nvidia GPU
+    docker run -itd \
+            --shm-size 32g \
+            --runtime=nvidia \
+            --gpus all \
+            --privileged \
+            -p $WEB_PORT:6901 \
+            -p $SSH_PORT:22 \
+            --security-opt seccomp=unconfined \
+            -e VNC_PW=$VNC_PASSWORD \
+            -e NVIDIA_DRIVER_CAPABILITIES=all \
+            --name $CONTAINER_NAME \
+            $DOCKER_IMAGE
+            #--volume="${NOETIC_BASE_DIR}:/home/kasm-user/workspace:Z" \
+else
+    docker run -itd \
+            --shm-size 32g \
+            --privileged \
+            -p $WEB_PORT:6901 \
+            -p $SSH_PORT:22 \
+            --security-opt seccomp=unconfined \
+            -e VNC_PW=$VNC_PASSWORD \
+            --name $CONTAINER_NAME \
+            $DOCKER_IMAGE
+            #--volume="${NOETIC_BASE_DIR}:/home/kasm-user/workspace:Z" \
+fi
+
+# Check if Docker run was successful
+if [ $? -eq 0 ]; then
+    echo "Container $CONTAINER_NAME started successfully."
+else
+    echo "Failed to start the container."
+    exit 1
+fi