diff --git a/docker-compose.yml b/docker-compose.yml
index 2b8e4ec..705d77e 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -5,6 +5,8 @@ services:
       context: ./
       dockerfile: docker/Dockerfile
     image: telecarla
-    ports:
-      - '2000:2002'
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    environment:
+      DISPLAY: $DISPLAY
     command: bash
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 26b57cc..e53f2c8 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,8 @@
 FROM ros:melodic-robot
 
+ARG CARLA_MAJOR_VERSION='0.9.10'
+ARG CARLA_MINOR_VERSION='1'
+
 ENV DEBIAN_FRONTEND='noninteractive'
 ENV QT_X11_NO_MITSHM=1
 
@@ -8,6 +11,7 @@ RUN apt-get update && \
     python-catkin-tools \
     x11-apps \
     socat \
+    wget \
     ubuntu-server \
     ubuntu-desktop && \
     rm -rf /var/lib/apt/lists/*
@@ -17,6 +21,10 @@ WORKDIR /home/catkin_ws/src/telecarla
 RUN ./install.sh
 
 WORKDIR /home/catkin_ws
+RUN wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_${CARLA_MAJOR_VERSION}.${CARLA_MINOR_VERSION}.tar.gz && \
+    mkdir -p carla && tar xzf CARLA_${CARLA_MAJOR_VERSION}.${CARLA_MINOR_VERSION}.tar.gz -C carla && \
+    python -m easy_install --no-deps carla/PythonAPI/carla/dist/carla-${CARLA_MAJOR_VERSION}-py2.7-linux-x86_64.egg && \
+    rm -rf carla CARLA_${CARLA_MAJOR_VERSION}.${CARLA_MINOR_VERSION}.tar.gz
 RUN bash -c "source /opt/ros/melodic/setup.bash && source /opt/carla-ros-bridge/melodic/setup.bash && catkin init && catkin build"
 
 ENTRYPOINT [ "src/telecarla/docker/entrypoint.sh" ]
diff --git a/telecarla_manual_control/config/multi_sensors.json b/telecarla_manual_control/config/multi_sensors.json
index 5ea3fac..c8ffd62 100644
--- a/telecarla_manual_control/config/multi_sensors.json
+++ b/telecarla_manual_control/config/multi_sensors.json
@@ -9,8 +9,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 0.0,
-            "width": 640,
-            "height": 480,
+            "image_size_x": 640,
+            "image_size_y": 480,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,
@@ -60,8 +60,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": -45.0,
-            "width": 640,
-            "height": 480,
+            "image_size_x": 640,
+            "image_size_y": 480,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,
@@ -111,8 +111,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 45.0,
-            "width": 640,
-            "height": 480,
+            "image_size_x": 640,
+            "image_size_y": 480,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,
@@ -162,8 +162,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 180.0,
-            "width": 640,
-            "height": 480,
+            "image_size_x": 640,
+            "image_size_y": 480,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,
@@ -213,8 +213,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": -160.0,
-            "width": 640,
-            "height": 480,
+            "image_size_x": 640,
+            "image_size_y": 480,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,
@@ -264,8 +264,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 160.0,
-            "width": 640,
-            "height": 480,
+            "image_size_x": 640,
+            "image_size_y": 480,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,
diff --git a/telecarla_manual_control/config/multi_sensors_bmw.json b/telecarla_manual_control/config/multi_sensors_bmw.json
index fa709c3..5ae9ec4 100644
--- a/telecarla_manual_control/config/multi_sensors_bmw.json
+++ b/telecarla_manual_control/config/multi_sensors_bmw.json
@@ -9,8 +9,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 0.0,
-            "width": 1200,
-            "height": 600,
+            "image_size_x": 1200,
+            "image_size_y": 600,
             "fov": 150,
             "fov": 90.0,
             "sensor_tick": 0.05,
@@ -61,8 +61,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": -45.0,
-            "width": 800,
-            "height": 600,
+            "image_size_x": 800,
+            "image_size_y": 600,
             "fov": 100,
             "fov": 90.0,
             "sensor_tick": 0.05,
@@ -113,8 +113,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 45.0,
-            "width": 800,
-            "height": 600,
+            "image_size_x": 800,
+            "image_size_y": 600,
             "fov": 100,
             "fov": 90.0,
             "sensor_tick": 0.05,
@@ -165,8 +165,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 180.0,
-            "width": 750,
-            "height": 600,
+            "image_size_x": 750,
+            "image_size_y": 600,
             "fov": 52,
             "fov": 90.0,
             "sensor_tick": 0.05,
@@ -217,8 +217,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": -160.0,
-            "width": 800,
-            "height": 600,
+            "image_size_x": 800,
+            "image_size_y": 600,
             "fov": 100,
             "fov": 90.0,
             "sensor_tick": 0.05,
@@ -269,8 +269,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 160.0,
-            "width": 800,
-            "height": 600,
+            "image_size_x": 800,
+            "image_size_y": 600,
             "fov": 100,
             "fov": 90.0,
             "sensor_tick": 0.05,
diff --git a/telecarla_manual_control/config/single_sensors.json b/telecarla_manual_control/config/single_sensors.json
index 6eb9e06..79d892b 100644
--- a/telecarla_manual_control/config/single_sensors.json
+++ b/telecarla_manual_control/config/single_sensors.json
@@ -9,8 +9,8 @@
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 0.0,
-            "width": 1280,
-            "height": 720,
+            "image_size_x": 1280,
+            "image_size_y": 720,
             "fov": 90.0,
             "sensor_tick": 0.05,
             "gamma": 2.2,