diff --git a/.docker/jazzy.arm64v8.dockerfile b/.docker/jazzy.arm64v8.dockerfile
index e81779be..ed8c8426 100644
--- a/.docker/jazzy.arm64v8.dockerfile
+++ b/.docker/jazzy.arm64v8.dockerfile
@@ -2,6 +2,60 @@ FROM arm64v8/ubuntu:24.04
 ARG BRANCH="ros2"
 ARG ROS_DISTRO="jazzy"
 
+EXPOSE 3389/tcp
+# EXPOSE 22/tcp
+ARG USER=ioes
+ARG PASS=ioes
+ARG X11Forwarding=false
+
+# Set RDP and SSH environments
+# access with any RDP client at localhost:3389 with USER/PASS)
+# SSh connect and forward X11 with USER/PASS at localhost:22
+# hadolint ignore=DL3008
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+        apt-get install -y --no-install-recommends \
+        ubuntu-desktop-minimal dbus-x11 xrdp sudo && \
+        rm -rf /var/lib/apt/lists/; \
+    [ $X11Forwarding = 'true' ] && \
+    apt-get install -y --no-install-recommends \
+    openssh-server; \
+    apt-get autoremove --purge; \
+    apt-get clean; \
+    rm /run/reboot-required*
+
+    RUN useradd -s /bin/bash -m $USER -p "$(openssl passwd "$PASS")"; \
+    usermod -aG sudo $USER; \
+    adduser xrdp ssl-cert; \
+    # Setting the required environment variables
+    echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
+    echo 'export GNOME_SHELL_SESSION_MODE=ubuntu' > /home/$USER/.xsessionrc; \
+    echo 'export XDG_CURRENT_DESKTOP=ubuntu:GNOME' >> /home/$USER/.xsessionrc; \
+    echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
+    # Enabling log to the stdout
+    sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
+    # Disabling system animations and reducing the
+    # image quality to improve the performance
+    sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
+    gsettings set org.gnome.desktop.interface enable-animations true; \
+    # Listening on wildcard address for X forwarding
+    [ $X11Forwarding = 'true' ] && \
+        sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
+        sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
+        :;
+
+# Disable initial welcome window
+RUN echo "X-GNOME-Autostart-enabled=false" >> /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
+
+# Default command to start rdp server
+CMD ["/bin/sh", "-c", "\
+    rm -f /var/run/xrdp/xrdp*.pid >/dev/null 2>&1; \
+    service dbus restart >/dev/null 2>&1; \
+    /usr/lib/systemd/systemd-logind >/dev/null 2>&1 & \
+    [ -f /usr/sbin/sshd ] && /usr/sbin/sshd; \
+    xrdp-sesman --config /etc/xrdp/sesman.ini; \
+    xrdp --nodaemon --config /etc/xrdp/xrdp.ini \
+    "]
+
 # update and upgrade libs
 RUN apt-get update \
     && apt-get -y upgrade \
@@ -11,10 +65,12 @@ RUN apt-get update \
 ENV DEBIAN_FRONTEND noninteractive
 ENV DEBCONF_NONINTERACTIVE_SEEN=true
 # hadolint ignore=DL3008
-RUN apt-get install -y --no-install-recommends \
+RUN apt-get update \
+    apt-get install -y --no-install-recommends \
     sudo tzdata build-essential gfortran automake \
     bison flex libtool git wget locales \
-    software-properties-common
+    software-properties-common && \
+    rm -rf /var/lib/apt/lists/
 
 # Locale for UTF-8
 RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
@@ -23,8 +79,8 @@ RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.
 # Install Utilities
 # hadolint ignore=DL3008
 RUN apt-get -y install --no-install-recommends \
-    x11-apps mesa-utils xauth \
-    && rm -rf /tmp/*
+    x11-apps mesa-utils xauth && \
+    rm -rf /var/lib/apt/lists/
 
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
 extras/ros-jazzy-gz-harmonic-install.sh install.sh
@@ -48,3 +104,6 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
 # source entrypoint setup
 RUN sed --in-place --expression \
     '$i source "$ROS_UNDERLAY/setup.bash"' /ros_entrypoint.sh
+
+# Use software rendering for container
+ENV LIBGL_ALWAYS_INDIRECT=1