diff --git a/docker/azure-kinect/Dockerfile b/docker/azure-kinect/Dockerfile
index 251aa5c4..8e6d4fe2 100644
--- a/docker/azure-kinect/Dockerfile
+++ b/docker/azure-kinect/Dockerfile
@@ -1,4 +1,4 @@
-FROM osrf/ros:humble-desktop
+FROM osrf/ros:humble-simulation
 
 RUN apt-get update \
         && apt-get -y install \
@@ -12,7 +12,9 @@ RUN apt-get update \
         mlocate \
         wget \
         curl \
+        ros-${ROS_DISTRO}-cv-bridge \
         ros-${ROS_DISTRO}-joint-state-publisher \
+        ros-${ROS_DISTRO}-angles \
         build-essential \
         python3-colcon-common-extensions \
         software-properties-common