diff --git a/README.md b/README.md
index 6c2f7af..8099a2a 100644
--- a/README.md
+++ b/README.md
@@ -159,5 +159,7 @@ chmod +x doc/build_docs.sh
 <!-- iiwa controller - docker -->
 <!-- Lightweight cobot -->
 ```bash
+docker build -t evilfisru/lwc:... -f docker/jazzy/.../Dockerfile .
+
 docker run -it --rm --network host evilfisru/lwa:jazzy-lwa7-noble
 ```
\ No newline at end of file
diff --git a/docker/jazzy/ros-iiwa7-webots/Dockerfile b/docker/jazzy/ros-iiwa7-webots/Dockerfile
new file mode 100644
index 0000000..16c1905
--- /dev/null
+++ b/docker/jazzy/ros-iiwa7-webots/Dockerfile
@@ -0,0 +1,46 @@
+FROM evilfisru/ros:jazzy-base-noble
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV WEBOTS_HOME=/usr/local/webots
+ENV LIBGL_ALWAYS_SOFTWARE=1
+ENV GALLIUM_DRIVER=llvmpipe
+
+# X11 utilities and Mesa software renderer
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    wget \
+    libx11-6 \
+    x11-utils \
+    libglu1-mesa \
+    libgl1-mesa-dri \
+    mesa-utils \
+    libegl-mesa0 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Webots R2025a (compatible with ros-jazzy-webots-ros2)
+RUN wget -q https://github.com/cyberbotics/webots/releases/download/R2025a/webots_2025a_amd64.deb \
+        -O /tmp/webots.deb && \
+    apt-get update && \
+    apt-get install -y /tmp/webots.deb && \
+    rm /tmp/webots.deb && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    # ros-jazzy-webots-ros2-control \
+    python3-pil \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /ros2_ws
+
+COPY src/ src/
+
+RUN apt-get update && \
+    rosdep install --from-paths src -i -r -y && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --mixin release
+
+RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
+
+CMD ["bash"]
diff --git a/docker/jazzy/ros-iiwa7-webots/run.sh b/docker/jazzy/ros-iiwa7-webots/run.sh
new file mode 100755
index 0000000..1a27417
--- /dev/null
+++ b/docker/jazzy/ros-iiwa7-webots/run.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+# Run the Webots container with X11 forwarding.
+# Usage:
+#   ./run.sh                          — interactive shell
+#   ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
+
+IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:jazzy-webots}"
+
+# Allow local Docker processes to connect to the X server
+xhost +local:docker > /dev/null
+
+docker run -it --rm \
+    --name ros-webots \
+    --network host \
+    -e DISPLAY="${DISPLAY}" \
+    -e QT_X11_NO_MITSHM=1 \
+    -e LIBGL_ALWAYS_SOFTWARE=1 \
+    -e GALLIUM_DRIVER=llvmpipe \
+    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+    "${IMAGE}" \
+    "$@"
diff --git a/src/iiwa_bringup/package.xml b/src/iiwa_bringup/package.xml
index f707264..22504b2 100644
--- a/src/iiwa_bringup/package.xml
+++ b/src/iiwa_bringup/package.xml
@@ -13,6 +13,7 @@
   <exec_depend>iiwa_utils</exec_depend>
   <exec_depend>iiwa_config</exec_depend>
   <exec_depend>iiwa_description</exec_depend>
+  <exec_depend>foxglove_bridge</exec_depend>
 
   <!-- ROS 2 infrastructure -->
   <exec_depend>launch</exec_depend>
@@ -32,6 +33,7 @@
 
   <!-- Webots -->
   <exec_depend>webots_ros2_driver</exec_depend>
+  <exec_depend>webots_ros2_control</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/src/iiwa_config/package.xml b/src/iiwa_config/package.xml
index 122295e..e5a0fd8 100644
--- a/src/iiwa_config/package.xml
+++ b/src/iiwa_config/package.xml
@@ -9,6 +9,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <!-- Runtime plugins referenced in YAML configs -->
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>pilz_industrial_motion_planner</exec_depend>
+  <exec_depend>moveit_planners_chomp</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/src/iiwa_planning/package.xml b/src/iiwa_planning/package.xml
index 1ed08e0..bce7868 100644
--- a/src/iiwa_planning/package.xml
+++ b/src/iiwa_planning/package.xml
@@ -15,10 +15,15 @@
   <depend>moveit_ros_planning_interface</depend>
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend>
+  <depend>moveit_planners_ompl</depend>
+  <depend>pilz_industrial_motion_planner</depend>
+  <depend>moveit_planners_chomp</depend>
   <depend>moveit_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>std_srvs</depend>
   <depend>moveit_py</depend>
   <depend>tf_transformations</depend>
+  <depend>python3-scipy</depend>
   <depend>iiwa_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/src/realsense2_rgbd_plugin/package.xml b/src/realsense2_rgbd_plugin/package.xml
index de75405..9f6b6fd 100644
--- a/src/realsense2_rgbd_plugin/package.xml
+++ b/src/realsense2_rgbd_plugin/package.xml
@@ -19,6 +19,7 @@
     <depend>rviz_rendering</depend>
     <depend>rviz_default_plugins</depend>
     <depend>pluginlib</depend>
+    <depend>cv_bridge</depend>
 
     <export>
         <build_type>ament_cmake</build_type>
diff --git a/src/realsense2_ros_mqtt_bridge/package.xml b/src/realsense2_ros_mqtt_bridge/package.xml
index 08893ba..1ae1874 100644
--- a/src/realsense2_ros_mqtt_bridge/package.xml
+++ b/src/realsense2_ros_mqtt_bridge/package.xml
@@ -8,6 +8,15 @@
   <maintainer email="nir.azkiel@realsenseai.com">Nir Azkiel</maintainer>
   <license>Apache-2.0</license>
 
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>realsense2_camera_msgs</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-paho-mqtt</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>