diff --git a/Dockerfile b/Dockerfile
index 33e294f..31e8c83 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,6 +1,6 @@
 # FROM ubuntu:16.04
-FROM ubuntu:18.04
-
+# FROM ubuntu:18.04
+FROM autoware/autoware:1.13.0-melodic-cuda
 
 # Make all NVIDIA GPUS visible, but I want to manually install drivers
 ARG NVIDIA_VISIBLE_DEVICES=all
@@ -121,6 +121,9 @@
       alsa pulseaudio libgtk2.0-0 && \
     rm -rf /var/lib/apt/lists/*
 
+USER root
+WORKDIR /
+
 # novnc
 # download websockify as well
 RUN wget https://github.com/novnc/noVNC/archive/v1.1.0.zip && \
diff --git a/run.sh b/run.sh
index cf6d4e6..e3309bc 100644
--- a/run.sh
+++ b/run.sh
@@ -5,22 +5,22 @@
 # nvidia-xconfig -a --virtual=800x600 --allow-empty-initial-configuration --enable-all-gpus --busid 0:4:0
 BUS_ID=$(nvidia-xconfig --query-gpu-info | grep 'PCI BusID' | sed -r 's/\s*PCI BusID : PCI:(.*)/\1/')
 echo $BUS_ID
-nvidia-xconfig -a --virtual=1280x720 --allow-empty-initial-configuration --enable-all-gpus --busid $BUS_ID
+sudo nvidia-xconfig -a --virtual=1280x720 --allow-empty-initial-configuration --enable-all-gpus --busid $BUS_ID
 
 # 1. launch X server
-Xorg :0 &
+sudo Xorg :0 &
 sleep 2  # wait for the server gets ready
 
 # 2. start x11 and vnc connection
-x11vnc -display :0 -passwd pass -forever -rfbport 5900 --verbose &
+sudo x11vnc -display :0 -passwd pass -forever -rfbport 5900 --verbose &
 sleep 2  # wait for the server gets ready
 
 # 2.5 start audio
-pulseaudio --start
+sudo pulseaudio --start
 sleep 2
 
 # 3. start noVNC
-/noVNC-1.1.0/utils/launch.sh --vnc localhost:5900 --listen 8081 &
+sudo /noVNC-1.1.0/utils/launch.sh --vnc localhost:5900 --listen 8081 &
 sleep 2
 
 echo 'running noVNC at http://localhost:8081/vnc.html?host=localhost&port=8081'
diff --git a/server.sh b/server.sh
index dd2714e..08e8db2 100644
--- a/server.sh
+++ b/server.sh
@@ -1,4 +1,5 @@
 docker build -t sim .
+
 docker run --privileged -it --rm --gpus all \
   -v $HOME/lgsvlsimulator-linux64-2019.11:/lg \
   -v $HOME/container-unity3d:/root/.config/unity3d \