diff --git a/ROS2/AMD64x86/wheelchair2_base/Dockerfile b/ROS2/AMD64x86/wheelchair2_base/Dockerfile
index b450fa3..e3def90 100644
--- a/ROS2/AMD64x86/wheelchair2_base/Dockerfile
+++ b/ROS2/AMD64x86/wheelchair2_base/Dockerfile
@@ -77,7 +77,16 @@ RUN sudo apt-get update \
 RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \
     echo "export PS1='\\[\\033[01;32m\\]\\u@\\h:\\[\\033[01;34m\\]\\w\\$\\[\\033[00m\\] '" | sudo tee -a ~/.bashrc > /dev/null
 
-COPY .tmux.conf /home/wheelchair2/.tmux.conf
+COPY .tmux.conf /home/$USERNAME/.tmux.conf
 
 # Environment variable for map folder
-ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
\ No newline at end of file
+ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
+
+#Install Miniconda
+RUN mkdir -p ~/miniconda3 && \
+    wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
+    bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
+    rm ~/miniconda3/miniconda.sh && \
+    source ~/miniconda3/bin/activate && \
+    conda init --all && \ 
+    conda config --set auto_activate_base false
\ No newline at end of file
diff --git a/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list b/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list
index db2693b..ab869e9 100644
--- a/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list
+++ b/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list
@@ -1,2 +1 @@
-casadi
 open3d
\ No newline at end of file
diff --git a/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile b/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile
index dcda932..887df23 100644
--- a/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile
+++ b/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile
@@ -35,7 +35,7 @@ RUN sudo apt-get update \
 
 # Build and install Realsense-SDK
 WORKDIR /home/$USERNAME
-RUN git clone --depth=1 --progress --verbose --branch v2.56.2 https://github.com/IntelRealSense/librealsense.git
+RUN git clone --branch v2.56.2 https://github.com/IntelRealSense/librealsense.git
 WORKDIR /home/$USERNAME/librealsense
 RUN sudo mkdir -p /etc/udev/rules.d && \
     ./scripts/setup_udev_rules.sh \
@@ -44,6 +44,8 @@ RUN mkdir build && cd build \
     && cmake ../ \
     && sudo make uninstall && make clean && make && sudo make install
 
+
+
 # Build and install Livox-SDK2
 WORKDIR /home/$USERNAME
 RUN git clone --depth=1 --progress --verbose https://github.com/rtarun1/Livox-SDK2.git 
@@ -106,7 +108,17 @@ RUN sudo apt-get update \
 RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \
     echo "export PS1='\\[\\033[01;32m\\]\\u@\\h:\\[\\033[01;34m\\]\\w\\$\\[\\033[00m\\] '" | sudo tee -a ~/.bashrc > /dev/null
 
-COPY .tmux.conf /home/wheelchair2/.tmux.conf
+COPY .tmux.conf /home/$USERNAME/.tmux.conf
 
 # Environment variable for map folder
-ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
\ No newline at end of file
+ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
+
+
+#Install Miniconda
+RUN mkdir -p ~/miniconda3 && \
+    wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
+    bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
+    rm ~/miniconda3/miniconda.sh && \
+    source ~/miniconda3/bin/activate && \
+    conda init --all && \ 
+    conda config --set auto_activate_base false
diff --git a/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list b/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list
index db2693b..ab869e9 100644
--- a/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list
+++ b/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list
@@ -1,2 +1 @@
-casadi
 open3d
\ No newline at end of file
diff --git a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile
index 22aa220..2d88c87 100644
--- a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile
+++ b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile
@@ -77,7 +77,16 @@ RUN sudo apt-get update \
 RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \
     echo "export PS1='\\[\\033[01;32m\\]\\u@\\h:\\[\\033[01;34m\\]\\w\\$\\[\\033[00m\\] '" | sudo tee -a ~/.bashrc > /dev/null
 
-COPY .tmux.conf /home/wheelchair2/.tmux.conf
+COPY .tmux.conf /home/$USERNAME/.tmux.conf
 
 # Environment variable for map folder
-ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
\ No newline at end of file
+ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
+
+#Install Miniconda
+RUN mkdir -p ~/miniconda3 && \
+    wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh -O ~/miniconda3/miniconda.sh && \
+    bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
+    rm ~/miniconda3/miniconda.sh && \
+    source ~/miniconda3/bin/activate && \
+    conda init --all && \ 
+    conda config --set auto_activate_base false
\ No newline at end of file
diff --git a/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list b/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list
index db2693b..ab869e9 100644
--- a/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list
+++ b/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list
@@ -1,2 +1 @@
-casadi
 open3d
\ No newline at end of file