diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index c473f89..e4f0c06 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/clubcapra/gazebo:harmonic
+FROM ros:humble-ros-base
 
 # Add vscode user with same UID and GID as your host system
 # (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
@@ -6,6 +6,10 @@ ARG USERNAME=rove
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
+# ENV variables
+ENV ROS_DISTRO=humble
+ENV GZ_VERSION=harmonic
+
 WORKDIR /workspace/$USERNAME
 
 RUN groupadd --gid $USER_GID $USERNAME || true \
@@ -22,17 +26,41 @@ RUN apt update && apt upgrade -y
 # Install Git
 RUN apt install -y git
 
+# Install necessary packages for Gazebo Garden and its dependencies
+RUN apt-get update && apt-get install -y \
+    software-properties-common \
+    wget \
+    lsb-release \
+    gnupg \
+    curl
+
+# Install Gazebo
+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" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+RUN apt update -y
+
+RUN apt install -y ros-humble-ros-gzharmonic
+
+# Adding an APT update and clean step
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends apt-utils && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean && \
+    apt-get update
+
 # Change user
+RUN chown $USER_UID:$USER_GID /workspace/$USERNAME
+
 USER $USERNAME
 
 # Source the ROS setup file
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
-    echo "source /gazebo/gazebo_ws/install/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+COPY --chown=$USERNAME ./ /workspace/$USERNAME
 
 # Install ROS dependencies
 RUN rosdep update
-# Copy to preload the ros packages
-COPY ./ /workspace/$USERNAME/
 
-RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
 
+RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
diff --git a/src/rove_description/package.xml b/src/rove_description/package.xml
index b9e3ba1..340d14a 100644
--- a/src/rove_description/package.xml
+++ b/src/rove_description/package.xml
@@ -9,7 +9,6 @@
 
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>velodyne_description</exec_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>