diff --git a/.devcontainer/jazzy/Dockerfile.jazzy b/.devcontainer/jazzy/Dockerfile.jazzy
index d5734ee..26247a6 100644
--- a/.devcontainer/jazzy/Dockerfile.jazzy
+++ b/.devcontainer/jazzy/Dockerfile.jazzy
@@ -1,3 +1,4 @@
+# syntax=docker/dockerfile:1.7-labs
 FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
@@ -51,19 +52,17 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGE
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# system deps from frozen rosdep manifest — no rosdep at build or startup
-# NOTE: There should be a check in your CI that this file is up to date.
-# Something like: 
-#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
-# The --mount=type=cache option caches the apt packages with buildkit
-# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
-# this enables parallel builds for different architectures without cache conflicts
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
-#     rm -f /etc/apt/apt.conf.d/docker-clean \
-#     && apt-get update \
-#     && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
-#     && rm -rf /var/lib/apt/lists/*
+# Copy boilerplate project config into workspace so it can be parsed by rosdep.
+# This will be obscured by the volume mount or the workspace in the devcontainer
+# Don't include all sources, because the rosdep will re-process on any file change
+COPY --parents src/**/package.xml src/**/COLCON_IGNORE src/
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
+    && rosdep update --rosdistro $ROS_DISTRO \
+    && rosdep install --from-paths src --ignore-src -y \
+    && rm -rf /var/lib/apt/lists/*
+
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
     apt-get update \
diff --git a/patches/livox_ros_driver2.patch b/patches/livox_ros_driver2.patch
index d35c2d5..6d5705a 100644
--- a/patches/livox_ros_driver2.patch
+++ b/patches/livox_ros_driver2.patch
@@ -34,13 +34,47 @@ index 0000000..163fb01
 +launch_ROS2
 \ No newline at end of file
 diff --git a/package.xml b/package.xml
-new file mode 120000
-index 0000000..36804a4
+new file mode 100644
+index 0000000..0000000
 --- /dev/null
 +++ b/package.xml
-@@ -0,0 +1 @@
-+package_ROS2.xml
-\ No newline at end of file
+@@ -0,0 +1,36 @@
++<?xml version="1.0"?>
++<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
++<package format="3">
++  <name>livox_ros_driver2</name>
++  <version>1.0.0</version>
++  <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
++  <maintainer email="dev@livoxtech.com">feng</maintainer>
++  <license>MIT</license>
++
++  <buildtool_depend>ament_cmake_auto</buildtool_depend>
++  <build_depend>rosidl_default_generators</build_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
++
++  <depend>rclcpp</depend>
++  <depend>rclcpp_components</depend>
++  <depend>std_msgs</depend>
++  <depend>sensor_msgs</depend>
++  <depend>rcutils</depend>
++  <depend>pcl_conversions</depend>
++  <depend>rcl_interfaces</depend>
++  <depend>libpcl-all-dev</depend>
++
++  <exec_depend>rosbag2</exec_depend>
++  <exec_depend>rosidl_default_runtime</exec_depend>
++
++  <test_depend>ament_lint_auto</test_depend>
++  <test_depend>ament_lint_common</test_depend>
++
++  <depend>git</depend>
++  <depend>apr</depend>
++  <depend>livox_sdk2</depend>
++
++  <export>
++    <build_type>ament_cmake</build_type>
++  </export>
++</package>
 diff --git a/package_ROS2.xml b/package_ROS2.xml
 index 96f5762..c66785b 100644
 --- a/package_ROS2.xml
diff --git a/patches/unilidar_sdk2.patch b/patches/unilidar_sdk2.patch
index e57c358..81d7f5f 100644
--- a/patches/unilidar_sdk2.patch
+++ b/patches/unilidar_sdk2.patch
@@ -37,10 +37,18 @@ index 041ef0d..dd57d47 100644
  
  install(TARGETS
 diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
-index 74539aa..b5febb2 100644
+index 74539aa..69bb645 100644
 --- a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
 +++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
-@@ -21,6 +21,7 @@
+@@ -15,14 +15,15 @@
+   <depend>rclcpp</depend>
+   <depend>std_msgs</depend>
+   <depend>sensor_msgs</depend>
+-  
++
+   <depend>pcl_conversions</depend>
+-  <depend>pcl</depend>
++  <depend>libpcl-all-dev</depend>
  
    <depend>geometry_msgs</depend>
    <depend>tf2_ros</depend>
@@ -48,6 +56,10 @@ index 74539aa..b5febb2 100644
  
    <export>
      <build_type>ament_cmake</build_type>
+   </export>
+-</package>
++</package>
+\ No newline at end of file
 diff --git a/unitree_lidar_sdk/CMakeLists.txt b/unitree_lidar_sdk/CMakeLists.txt
 index 80af9c9..0d9a334 100644
 --- a/unitree_lidar_sdk/CMakeLists.txt
@@ -103,3 +115,34 @@ index 80af9c9..0d9a334 100644
 \ No newline at end of file
 +ament_package()
 \ No newline at end of file
+diff --git a/unitree_lidar_sdk/package.xml b/unitree_lidar_sdk/package.xml
+index ef88d9a..68ab313 100644
+--- a/unitree_lidar_sdk/package.xml
++++ b/unitree_lidar_sdk/package.xml
+@@ -1,15 +1,15 @@
+ <?xml version="1.0"?>
+ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+ <package format="3">
+-  <name>unitree_lidar_sdk</name>
+-  <version>0.0.0</version>
+-  <description>Unitree LiDAR SDK (prebuilt static library and headers)</description>
+-  <maintainer email="lukelbmeng@gmail.com">jo</maintainer>
+-  <license>BSD-3-Clause</license>
++    <name>unitree_lidar_sdk</name>
++    <version>0.0.0</version>
++    <description>Unitree LiDAR SDK (prebuilt static library and headers)</description>
++    <maintainer email="lukelbmeng@gmail.com">jo</maintainer>
++    <license>BSD-3-Clause</license>
+ 
+-  <buildtool_depend>ament_cmake</buildtool_depend>
++    <buildtool_depend>ament_cmake</buildtool_depend>
+ 
+-  <export>
+-    <build_type>ament_cmake</build_type>
+-  </export>
+-</package>
++    <export>
++        <build_type>ament_cmake</build_type>
++    </export>
++</package>
+\ No newline at end of file
diff --git a/src/elephant_robotics/agv_pro_autocharge/package.xml b/src/elephant_robotics/agv_pro_autocharge/package.xml
index bdcb24e..f406fab 100755
--- a/src/elephant_robotics/agv_pro_autocharge/package.xml
+++ b/src/elephant_robotics/agv_pro_autocharge/package.xml
@@ -7,9 +7,6 @@
   <maintainer email="your-email@example.com">Your Name</maintainer>
   <license>MIT</license>
 
-  <!-- Build dependencies -->
-  <buildtool_depend>ament_python</buildtool_depend>
-  
   <!-- Runtime dependencies -->
   <depend>rclpy</depend>
   <depend>geometry_msgs</depend>