diff --git a/kinetic/Dockerfile b/kinetic/Dockerfile
index 1eb89cb..5f24569 100644
--- a/kinetic/Dockerfile
+++ b/kinetic/Dockerfile
@@ -9,7 +9,7 @@ ARG DIST=kinetic
 # Set Gazebo verison
 ARG GAZ=gazebo7
 
-# Required utilities 
+# Required utilities
 RUN apt update \
  && apt install -y --no-install-recommends \
         build-essential \
@@ -82,15 +82,18 @@ RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu ${RELEASE} main" >
     ros-${DIST}-velodyne-gazebo-plugins \
     ros-${DIST}-velodyne-simulator \
     ros-${DIST}-xacro \
+    ros-${DIST}-pcl-ros \
+    ros-${DIST}-image-view \
  && apt clean
 
-RUN apt install -y --no-install-recommends python3-numpy 
+RUN apt install -y --no-install-recommends python3-numpy
 
 # Optional: Dev. tools, applications, etc.
 RUN apt-get update && apt-get install -y --no-install-recommends \
     gdb \
     psmisc \
     vim \
+    x11-apps \
     && rm -rf /var/lib/apt/lists/*
 
 ## Customize your image here.
diff --git a/melodic/Dockerfile b/melodic/Dockerfile
index 1052c8e..2ad6f3d 100644
--- a/melodic/Dockerfile
+++ b/melodic/Dockerfile
@@ -9,7 +9,7 @@ ARG DIST=melodic
 # Set Gazebo verison
 ARG GAZ=gazebo9
 
-# Required utilities 
+# Required utilities
 RUN apt update \
  && apt install -y --no-install-recommends \
         build-essential \
@@ -83,6 +83,8 @@ RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu ${RELEASE} main" >
     ros-${DIST}-velodyne-gazebo-plugins \
     ros-${DIST}-velodyne-simulator \
     ros-${DIST}-xacro \
+    ros-${DIST}-pcl-ros \
+    ros-${DIST}-image-view \
  && apt clean
 
 RUN pip3 install numpy
diff --git a/noetic/Dockerfile b/noetic/Dockerfile
index 7ebb32a..b558462 100644
--- a/noetic/Dockerfile
+++ b/noetic/Dockerfile
@@ -57,6 +57,7 @@ RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu ${RELEASE} main" >
     python3-rosinstall \
     python3-rosinstall-generator \
     python3-vcstool \
+    catkin-lint \
     ros-${DIST}-gazebo-plugins \
     ros-${DIST}-gazebo-ros \
     ros-${DIST}-gazebo-ros-control \
@@ -92,8 +93,13 @@ RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu ${RELEASE} main" >
     ros-${DIST}-velodyne-gazebo-plugins \
     ros-${DIST}-velodyne-simulator \
     ros-${DIST}-xacro \
+    ros-${DIST}-pcl-ros \
+    ros-${DIST}-image-view \
  && apt clean
 
+# Fix rqt_image_viewer pyqt5 problem
+RUN python3 -m pip uninstall pyqt5 pyqt5-sip
+
 # Optional: Dev. tools, applications, etc.
 RUN apt-get update && apt-get install -y --no-install-recommends \
     gdb \
diff --git a/run.bash b/run.bash
index 09d3d96..0f15281 100755
--- a/run.bash
+++ b/run.bash
@@ -45,15 +45,15 @@ Help()
 
 JOY=/dev/input/js0
 CUDA=""
-ROCKER_ARGS="--devices $JOY --dev-helpers --nvidia --x11 --user --home --git"
+ROCKER_ARGS="--devices $JOY --dev-helpers --nvidia --x11 --volume /dev:/dev --user --home --git"
 
 while getopts ":cstxh" option; do
   case $option in
-    c) # enable cuda library support 
-      CUDA="--cuda ";;
+    c) # enable cuda library support
+      CUDA="--cuda";;
     s) # Build cloudsim image
       ROCKER_ARGS="--nvidia --novnc --turbovnc --user --user-override-name=developer";;
-    t) # Build test image for Continuous Integration 
+    t) # Build test image for Continuous Integration
       echo "Building CI image"
       ROCKER_ARGS="--dev-helpers --nvidia";;
     x) # Build VRX Competition base image
@@ -61,7 +61,7 @@ while getopts ":cstxh" option; do
       ROCKER_ARGS="--dev-helpers --devices $JOY --nvidia --x11 --user --user-override-name=developer";;
     h) # print this help message and exit
       Help
-      exit;; 
+      exit;;
   esac
 done
 
@@ -73,4 +73,4 @@ CONTAINER_NAME="$(tr ':' '_' <<< "$IMG_NAME")_runtime"
 ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
 echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
 
-rocker ${CUDA} ${ROCKER_ARGS} $IMG_NAME 
+rocker ${CUDA} ${ROCKER_ARGS} $IMG_NAME