diff --git a/heightmap_demo/Dockerfile b/heightmap_demo/Dockerfile
index 9fa05e7..78b667e 100644
--- a/heightmap_demo/Dockerfile
+++ b/heightmap_demo/Dockerfile
@@ -1,105 +1,37 @@
-# Copyright 2021 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-# A Docker configuration script to build the Space ROS image.
-#
-# The script provides the following build arguments:
-#
-#   VCS_REF     - The git revision of the Space ROS source code (no default value).
-#   VERSION     - The version of Space ROS (default: "preview")
 
 FROM osrf/space-ros:latest
 
-# Define arguments used in the metadata definition
-ARG VCS_REF
-ARG VERSION="preview"
-
-# Specify the docker image metadata
-LABEL org.label-schema.schema-version="1.0"
-LABEL org.label-schema.name="Curiosity Rover"
-LABEL org.label-schema.description="Curiosity rover demo on the Space ROS platform"
-LABEL org.label-schema.vendor="Open Robotics"
-LABEL org.label-schema.version=${VERSION}
-LABEL org.label-schema.url="https://github.com/space-ros"
-LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
-LABEL org.label-schema.vcs-ref=${VCS_REF}
-
-# Define a few key variables
-ENV DEMO_DIR=${HOME_DIR}/demos_ws
-# ENV IGNITION_VERSION fortress
-ENV GZ_VERSION harmonic
-
-# Disable prompting during package installation
-ARG DEBIAN_FRONTEND=noninteractive
-
-# Get rosinstall_generator
-# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
-# the cache won't make it into the built image but will be maintained between steps.
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
-
-# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
-# Generate repos file for demo dependencies, excluding packages from Space ROS core.
-# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
-# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
-# RUN rosinstall_generator \
-#   --rosdistro ${ROSDISTRO} \
-#   --deps \
-#   --exclude-path ${SPACEROS_DIR}/src \
-#   --exclude-path ${MOVEIT2_DIR}/src \
-#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-#   -- $(cat /tmp/demo-pkgs.txt) \
-#   > /tmp/demo_generated_pkgs.repos
-
-RUN mkdir -p ${DEMO_DIR}/src
-WORKDIR ${DEMO_DIR}
-
-
-# Install libmongoc for development
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get install libmongoc-dev -y
-
-# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-#   sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
-# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
-# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
-# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
-
-# Get the source for the dependencies
-# RUN vcs import src < /tmp/demo_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
-RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
-
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y \
-&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
-&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}
-
-# Build the demo
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
-
-# Add the user to the render group so that the user can access /dev/dri/renderD128
-RUN sudo usermod -aG render $USERNAME
-
-# Setup the entrypoint
-COPY ./entrypoint.sh /
-ENTRYPOINT ["/entrypoint.sh"]
-CMD ["bash"]
+# Install Gazebo Harmonic:
+# https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu
+RUN sudo apt-get update
+RUN sudo apt-get install lsb-release gnupg
+RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN sudo apt-get update
+
+# Install required packages
+RUN sudo apt-get update \
+    && sudo apt-get install -y --no-install-recommends \
+        bash \
+        bash-completion \
+        build-essential \
+        cmake \
+        git \
+        python-is-python3 \
+        python3-pip \
+        gz-harmonic \
+    && sudo apt-get autoremove -y 
+
+# Replace old entrypoint with an entrypoint that extends upon it
+# This is necessary as Gazebo Harmonic has been installed as well as some new ROS packages.
+# RUN sudo mv /ros_entrypoint.sh /old_entrypoint.sh
+# COPY entrypoint.sh /ros_entrypoint.sh
+# RUN sudo chmod +x /ros_entrypoint.sh
+
+# Set up workspace
+RUN mkdir -p /home/spaceros-user/heightmap_demo
+WORKDIR /home/spaceros-user/heightmap_demo
+# Copy over the files so that we can pre-build the package with colcon
+COPY heightmap_demo /home/spaceros-user/heightmap_demo
+# Source ROS environment and build the package
+# RUN . /opt/ros/humble/setup.sh && . ${SPACEROS_DIR}/install/setup.sh && colcon build
\ No newline at end of file
diff --git a/heightmap_demo/README.md b/heightmap_demo/README.md
index c5e55e2..b9984a2 100644
--- a/heightmap_demo/README.md
+++ b/heightmap_demo/README.md
@@ -1,18 +1,23 @@
 # Heightmap demo
 
 
-This demo shows how to use custom DEM data from LRO & MRO to create performant terrain with Gazebo heightmaps.
+This demo shows how to use custom DEM data from LRO & MRO to create performant terrain with Gazebo **heightmaps**.
 
 
 
-Usage:
+## Build container:
 
 ```
 cd heightmap_demo
+./build.sh
+```
+
+## Run container:
 
-export GZ_SIM_RESOURCE_PATH=`pwd`/heightmap_demo/models:$GZ_SIM_RESOURCE_PATH
+```
+export GZ_SIM_RESOURCE_PATH=`pwd`/models:$GZ_SIM_RESOURCE_PATH
 
-gz sim -v 4 "heightmap_demo/apollo_16.sdf"
+gz sim -v 4 "apollo_16.sdf"
 ```
 
 
diff --git a/heightmap_demo/build.sh b/heightmap_demo/build.sh
index 94770d8..a530b6d 100755
--- a/heightmap_demo/build.sh
+++ b/heightmap_demo/build.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 ORG=openrobotics
-IMAGE=space_robots_demo
+IMAGE=heightmap_demo
 TAG=latest
 
 VCS_REF=""
diff --git a/heightmap_demo/demo_manual_pkgs.repos b/heightmap_demo/demo_manual_pkgs.repos
deleted file mode 100644
index 19ee0c9..0000000
--- a/heightmap_demo/demo_manual_pkgs.repos
+++ /dev/null
@@ -1,18 +0,0 @@
-repositories:
-  demos:
-    type: git
-    url: https://github.com/martincerven/demos.git
-    version: main
-  gz_ros2_control:
-    type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
-    version: humble
-
-  ros_gz:
-    type: git
-    url: https://github.com/gazebosim/ros_gz.git
-    version: humble
-  simulation:
-    type: git
-    url: https://github.com/space-ros/simulation.git
-    version: main
diff --git a/heightmap_demo/entrypoint.sh b/heightmap_demo/entrypoint.sh
index d1b51f2..045695e 100755
--- a/heightmap_demo/entrypoint.sh
+++ b/heightmap_demo/entrypoint.sh
@@ -2,5 +2,5 @@
 set -e
 
 # Setup the Demo environment
-source "${DEMO_DIR}/install/setup.bash"
+# source "${DEMO_DIR}/install/setup.bash"
 exec "$@"
diff --git a/heightmap_demo/run.sh b/heightmap_demo/run.sh
old mode 100644
new mode 100755
index e69de29..7dea65b
--- a/heightmap_demo/run.sh
+++ b/heightmap_demo/run.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   an X server
+
+IMG_NAME=openrobotics/heightmap_demo
+
+# Replace `/` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")2"
+
+# Start the container
+# docker run --rm -it --name $CONTAINER_NAME  --network host \
+#     -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
+
+docker run -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
+