diff --git a/Dockerfile b/Dockerfile
index effe016..1b3178a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -25,6 +25,37 @@
         mkdir -p /home/$USERNAME/.cache  && \
         chmod -R 777 /home/$USERNAME/.cache 
 
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        sudo \
+        less \
+        tmux \
+        bash-completion \
+        command-not-found \
+        software-properties-common \
+        xsel \
+        xdg-user-dirs \
+        python-pip \
+        python-protobuf \
+        python-pexpect \
+        pcl-tools \
+        openssh-server \
+        && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+RUN packages='libsdl2-2.0 xserver-xorg libvulkan1' \
+	&& apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y $packages --no-install-recommends \
+    && VULKAN_API_VERSION=`dpkg -s libvulkan1 | grep -oP 'Version: [0-9|\.]+' | grep -oP '[0-9|\.]+'` && \
+	mkdir -p /etc/vulkan/icd.d/ && \
+	echo \
+	"{\
+		\"file_format_version\" : \"1.0.0\",\
+		\"ICD\": {\
+			\"library_path\": \"libGLX_nvidia.so.0\",\
+			\"api_version\" : \"${VULKAN_API_VERSION}\"\
+		}\
+	}" > /etc/vulkan/icd.d/nvidia_icd.json \
+	&& rm -rf /var/lib/apt/lists/*
+
 # Error constructing proxy for org.gnome.Terminal:/org/gnome/Terminal/Factory0: Failed to execute child process dbus-launch (No such file or directory)
 # fix by setting LANG https://askubuntu.com/questions/608330/problem-with-gnome-terminal-on-gnome-3-12-2
 # to install locales https://stackoverflow.com/questions/39760663/docker-ubuntu-bin-sh-1-locale-gen-not-found
@@ -64,6 +95,7 @@
 # if you need full ubuntu desktop environment, the line below should be added.
         # ubuntu-desktop \
 RUN apt-get update && apt-get install -y \
+        ubuntu-desktop \
         xinit && \
     rm -rf /var/lib/apt/lists/*
 
@@ -140,7 +172,7 @@
 
 # for test
 RUN apt-get update && apt-get install -y --no-install-recommends \
-        firefox openbox menu && \
+        firefox openbox && \
     rm -rf /var/lib/apt/lists/*
 
 # sound driver and GTK library
@@ -174,10 +206,10 @@
     cd /opt/carla-simulator && \
     apt-get update && apt-get install -y --no-install-recommends \
     carla-simulator=0.9.10-1 \
-    libxerces-c-dev \
-    python-pip && \
+    libxerces-c-dev python-dev python3-dev && \
     rm -rf /var/lib/apt/lists/* && \
     echo "export PYTHONPATH=$PYTHONPATH:/opt/carla-simulator/PythonAPI/carla/dist/carla-0.9.10-py2.7-linux-x86_64.egg:/opt/carla-simulation/PythonAPI/carla" >> ~/.bashrc && \
+    pip install --upgrade setuptools && \
     pip install \
         simple-pid \
         numpy \