diff --git a/lunar_sim/Dockerfile b/lunar_sim/Dockerfile
index 762b25d..b8b5951 100644
--- a/lunar_sim/Dockerfile
+++ b/lunar_sim/Dockerfile
@@ -41,8 +41,8 @@ RUN mkdir ${SPACEROS_DIR}/src \
 
 # Define a few key variables
 ENV DEMO_DIR=${HOME_DIR}/demos_ws
-ENV GZ_VERSION garden
-ENV GZ_PARTITION spaceros
+ENV GZ_VERSION=garden
+ENV GZ_PARTITION=spaceros
 
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
@@ -76,6 +76,10 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   python3-vcstool \
   wget
 
+RUN sudo add-apt-repository ppa:kisak/kisak-mesa
+
+RUN sudo apt install xterm -y
+
 # Get rosinstall_generator
 # Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
 # the cache won't make it into the built image but will be maintained between steps.
diff --git a/lunar_sim/demo-pkgs.txt b/lunar_sim/demo-pkgs.txt
index fcf9006..810d889 100644
--- a/lunar_sim/demo-pkgs.txt
+++ b/lunar_sim/demo-pkgs.txt
@@ -1,4 +1,4 @@
 leo_gz_plugins
-leo_description
 rviz2
-xacro
\ No newline at end of file
+xacro
+teleop_twist_keyboard
\ No newline at end of file
diff --git a/lunar_sim/demo_manual_pkgs.repos b/lunar_sim/demo_manual_pkgs.repos
index 6a74e8b..8734164 100644
--- a/lunar_sim/demo_manual_pkgs.repos
+++ b/lunar_sim/demo_manual_pkgs.repos
@@ -15,4 +15,9 @@ repositories:
     type: git
     url: https://github.com/swri-robotics/gps_umd.git
     path: gps_msgs
-    version: 113782d
\ No newline at end of file
+    version: 113782d
+
+  leo_common-ros2:
+    type: git
+    url: https://github.com/LeoRover/leo_common-ros2.git
+    version: humble
\ No newline at end of file