diff --git a/.devcontainer/on_limo/docker-compose.yaml b/.devcontainer/on_limo/docker-compose.yaml
new file mode 100644
index 0000000..5bd74c3
--- /dev/null
+++ b/.devcontainer/on_limo/docker-compose.yaml
@@ -0,0 +1,33 @@
+version: '3'
+services:
+  limo_drivers:
+    image: lcas.lincoln.ac.uk/lcas/limo_ros_arm64:humble
+    user: "ros"
+    privileged: true
+    command: bash -c "source /opt/ros/lcas/install/setup.bash; (zenoh-bridge-ros2dds -l tcp/0.0.0.0:8888 &); ros2 launch limo_bringup limo_start.launch.py"
+    volumes:
+      - /dev:/dev
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /etc/localtime:/etc/localtime:ro
+      - /etc/timezone:/etc/timezone:ro
+      - /home/agilex/.Xauthority:/home/ros/.Xauthority
+    runtime: nvidia
+    environment:
+      - 'DISPLAY=:0'
+      - 'ROS_LOCALHOST_ONLY=0'
+      - 'LIBGL_ALWAYS_SOFTWARE=1'
+      - 'ROS_DOMAIN_ID=0'
+      - 'NVIDIA_VISIBLE_DEVICES=all'
+    network_mode: host
+    cap_add:
+        - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
diff --git a/.devcontainer/on_limo/install-docker-compose.sh b/.devcontainer/on_limo/install-docker-compose.sh
new file mode 100755
index 0000000..817595e
--- /dev/null
+++ b/.devcontainer/on_limo/install-docker-compose.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+DOCKER_CONFIG=${DOCKER_CONFIG:-$HOME/.docker}
+mkdir -p $DOCKER_CONFIG/cli-plugins
+curl -SL https://github.com/docker/compose/releases/download/v2.24.5/docker-compose-linux-aarch64 -o $DOCKER_CONFIG/cli-plugins/docker-compose
+chmod +x $DOCKER_CONFIG/cli-plugins/docker-compose
+