diff --git a/Dockerfile.base.env b/Dockerfile.base.env
index 333fad0..6928712 100644
--- a/Dockerfile.base.env
+++ b/Dockerfile.base.env
@@ -1,4 +1,4 @@
-FROM arm64v8/ros:jazzy-ros-core AS magrob.base.env
+FROM arm64v8/ros:jazzy-ros-base AS magrob.base.env
 
 RUN mkdir -p /ros_ws/src
 WORKDIR /ros_ws/src
diff --git a/mg_bringup/package.xml b/mg_bringup/package.xml
index 267f93c..5beb0a4 100644
--- a/mg_bringup/package.xml
+++ b/mg_bringup/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>launch</depend>
   <depend>launch_ros</depend>
+  <depend>xacro</depend>
   <depend>mg_control</depend>
   <depend>mg_odometry</depend>
   <depend>mg_navigation</depend>
diff --git a/scripts/docker_build.sh b/scripts/docker_build.sh
index 04f1761..ecf5ebb 100755
--- a/scripts/docker_build.sh
+++ b/scripts/docker_build.sh
@@ -34,15 +34,15 @@ case $TARGET in
 		ssh -N \
 			-o StrictHostKeyChecking=no \
 			-o UserKnownHostsFile=/dev/null \
-			-L *:5000:localhost:5000 \
+			-L 0.0.0.0:5000:localhost:5000 \
 			$REGISTRY &
 
 		echo "Building target: base"
 
 		sudo docker buildx build \
 			--platform linux/arm64 \
-			-t host.docker.internal:5000/magrob.env:latest \
-			-f Dockerfile.env \
+			-t localhost:5000/magrob.base.env:latest \
+			-f Dockerfile.base.env \
 			--output type=registry \
 			.
 		;;