diff --git a/docker/Dockerfile.roscube b/docker/Dockerfile.roscube
index 77b276edd..0a19d1608 100644
--- a/docker/Dockerfile.roscube
+++ b/docker/Dockerfile.roscube
@@ -49,6 +49,13 @@ RUN source /home/${USERNAME}/mambaforge/bin/activate; \
 RUN rm -rf ./src
 
 # tell ROS to use Cyclone DDS
-# ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
-# ENV CYCLONEDDS_URI=file:///home/developer/driverless_ws/src/machines/roscube_machine/cyclonedds.xml
+ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
+ENV CYCLONEDDS_URI=file:///home/developer/driverless_ws/src/machines/roscube_machine/cyclonedds.xml
 ENV ROS_DOMAIN_ID=69
+
+RUN echo 'export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"' >> /home/$USERNAME/.bashrc
+RUN echo 'export CYCLONEDDS_URI=file:///home/developer/driverless_ws/src/machines/roscube_machine/cyclonedds.xml' >> /home/$USERNAME/.bashrc
+RUN echo 'export ROS_DOMAIN_ID=69' >> /home/$USERNAME/.bashrc
+
+COPY ./docker/conda_entrypoint.sh /conda_entrypoint.sh
+ENTRYPOINT ["/conda_entrypoint.sh"]
diff --git a/docker/conda_entrypoint.sh b/docker/conda_entrypoint.sh
index 686e01f6d..ec4a8c0d1 100755
--- a/docker/conda_entrypoint.sh
+++ b/docker/conda_entrypoint.sh
@@ -9,4 +9,7 @@ conda activate driverless_env
 # source workspace setup if available
 test -f "/home/developer/driverless_ws/install/setup.bash" && source "/home/developer/driverless_ws/install/setup.bash"
 
+ros2 daemon stop
+ros2 daemon start
+
 exec "$@"
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index fc3eeb606..74f573043 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -15,7 +15,7 @@ x-volumes-roscube: &volumes-roscube
         - ../../datasets:/home/${USERNAME}/driverless_ws/datasets
         # /dev/shm is mounted in so that two foxy containers can talk to each other when using net=host, see: https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/
         - /dev/shm:/dev/shm
-        - /dev/ttyUSB-sbg:/dev/ttyUSB-sbg
+        - /dev/sbg:/dev/sbg
 
 x-volumes-jetson: &volumes-jetson
     volumes:
diff --git a/src/hardware/sensors/config/ellipse_D.yaml b/src/hardware/sensors/config/ellipse_D.yaml
index c865e1bba..6cfe3237e 100644
--- a/src/hardware/sensors/config/ellipse_D.yaml
+++ b/src/hardware/sensors/config/ellipse_D.yaml
@@ -32,7 +32,14 @@
     # Uart configuration
     uartConf:
       # Port Name
-      portName: "/dev/ttyUSB-sbg"
+      ### IMPORTANT REQUIRES UDEV RULE TO BE CREATED
+      # sudo touch /etc/udev/rules.d/99-sbg_example.rules
+      # sudo nano /etc/udev/rules.d/99-sbg_example.rules
+      # SUBSYSTEMS=="usb", ATTRS{product}=="USB-RS232 Cable", ATTRS{serial}=="SERIAL_HERE", SYMLINK+="sbg"
+      ### Find serial by walking through ttyUSBs
+      # udevadm info --name=/dev/ttyUSB0 --attribute-walk # replace with ttyUSB1... etc until you find the RS232
+
+      portName: "/dev/sbg"
 
       # Baude rate (4800 ,9600 ,19200 ,38400 ,115200 [default],230400 ,460800 ,921600)
       baudRate: 115200
diff --git a/src/machines/jetson_machine/cyclonedds.xml b/src/machines/jetson_machine/cyclonedds.xml
index 956967ac1..61027a586 100644
--- a/src/machines/jetson_machine/cyclonedds.xml
+++ b/src/machines/jetson_machine/cyclonedds.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
-    <Domain id="any">
+    <Domain id="69">
         <General>
-            <NetworkInterfaceAddress>wlan0</NetworkInterfaceAddress>
+            <Interfaces>
+                <NetworkInterface address='192.168.3.3'/>
+            </Interfaces>
             <AllowMulticast>spdp</AllowMulticast>
         </General>
     </Domain>
diff --git a/src/machines/roscube_machine/cyclonedds.xml b/src/machines/roscube_machine/cyclonedds.xml
index 1c156b4b5..ccd137ae9 100644
--- a/src/machines/roscube_machine/cyclonedds.xml
+++ b/src/machines/roscube_machine/cyclonedds.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
-    <Domain id="any">
+    <Domain id="69">
         <General>
-            <NetworkInterfaceAddress>enp4s0</NetworkInterfaceAddress>
+            <Interfaces>
+                <NetworkInterface address='192.168.3.2'/>
+            </Interfaces>
             <AllowMulticast>spdp</AllowMulticast>
         </General>
     </Domain>