diff --git a/docker-compose.yaml b/docker-compose.yaml
index 7e624344c..718f69e58 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -6,11 +6,11 @@ include:
 
 services:
   docs:  # live mkdocs container. open localhost:8000 in browser to see the docs
-    image: mkdocs_with_plugins
+    image: airlab-storage.andrew.cmu.edu:5001/shared/mkdocs_with_plugins
     build:
       dockerfile: docs/Dockerfile
       tags:
-        - mkdocs_with_plugins
+        - airlab-storage.andrew.cmu.edu:5001/shared/mkdocs_with_plugins
     container_name: docs
     ports:
       - "8000:8000"
diff --git a/simulation/isaac-sim/docker/Dockerfile.isaac-ros b/simulation/isaac-sim/docker/Dockerfile.isaac-ros
index 2a87aa2cb..fb7fc3ce9 100644
--- a/simulation/isaac-sim/docker/Dockerfile.isaac-ros
+++ b/simulation/isaac-sim/docker/Dockerfile.isaac-ros
@@ -63,12 +63,12 @@ RUN cd /tmp/ && \
     rm -rf /tmp/IsaacSim-ros_workspaces-main
 
 # copy over the AscentAeroSystemsSITLPackage
-COPY docker/isaac-sim/AscentAeroSystemsSITLPackage /AscentAeroSystemsSITLPackage
+COPY sitl_integration/AscentAeroSystemsSITLPackage /AscentAeroSystemsSITLPackage
 
 # the user.config.json file specifies to auto load the SITL extensions
-COPY docker/isaac-sim/user.config.json /root/.local/share/ov/data/Kit/Isaac-Sim/4.1/user.config.json
+COPY docker/user.config.json /root/.local/share/ov/data/Kit/Isaac-Sim/4.1/user.config.json
 
-COPY ros_ws/fastdds.xml /isaac-sim/fastdds.xml
+COPY docker/fastdds.xml /isaac-sim/fastdds.xml
 
 # Cleanup. Prevent people accidentally doing git commits as root in Docker
 RUN apt purge -y git &&  apt autoremove -y \
diff --git a/simulation/isaac-sim/docker/docker-compose.yaml b/simulation/isaac-sim/docker/docker-compose.yaml
index 6dd5e68e6..a12557f4a 100644
--- a/simulation/isaac-sim/docker/docker-compose.yaml
+++ b/simulation/isaac-sim/docker/docker-compose.yaml
@@ -1,7 +1,7 @@
 services:
 # ==============================================================================
   isaac-sim:
-    image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.2
+    image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.3
     build:
       context: ../
       dockerfile: docker/Dockerfile.isaac-ros
diff --git a/simulation/isaac-sim/docker/fastdds.xml b/simulation/isaac-sim/docker/fastdds.xml
new file mode 100644
index 000000000..d9d106bb2
--- /dev/null
+++ b/simulation/isaac-sim/docker/fastdds.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>UdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="udp_transport_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>UdpTransport</transport_id>
+            </userTransports>
+            <!-- Disables shared memory; required for Isaac Sim ROS2 Extension to transmit topics, especially between Docker containers or over the network -->
+             <!-- this is because if shared memory is enabled, ROS2 looks up message pointers thinking it's all on the same machine when it's not -->
+            <!-- https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/ -->
+            <!-- https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#isaac-sim-app-install-ros:~:text=Run%20export%20FASTRTPS_DEFAULT_PROFILES_FILE%3D~/.ros/fastdds.xml%20in%20the%20terminals%20that%20will%20use%20ROS%202%20functions -->
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>