diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 74a43a4..e666bf1 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -110,3 +110,11 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
   ./run_container.sh
   ```
+
+- Run and test:
+  ```bash
+  xhost +; docker compose -f extras/jetson/docker-compose.yml up
+
+  docker exec -it ros-test_node-1 bash
+  export ROS_DOMAIN_ID=18
+  ```
diff --git a/extras/jetson/docker-compose.yml b/extras/jetson/docker-compose.yml
new file mode 100644
index 0000000..9409e6e
--- /dev/null
+++ b/extras/jetson/docker-compose.yml
@@ -0,0 +1,38 @@
+version: "2.3"
+# runtime: nvidia needs version 2 else change standard runtime at host pc
+
+services:
+
+    test_node:
+        image: rapidposetriangulation_ros
+        network_mode: "host"
+        ipc: "host"
+        runtime: nvidia
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - ../../skelda/:/skelda/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - DISPLAY
+            - QT_X11_NO_MITSHM=1
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'sleep infinity'
+
+    estimator:
+        image: rapidposetriangulation_ros
+        network_mode: "host"
+        ipc: "host"
+        runtime: nvidia
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - ../../skelda/:/skelda/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - DISPLAY
+            - QT_X11_NO_MITSHM=1
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper'
diff --git a/extras/jetson/dockerfile_ros b/extras/jetson/dockerfile_ros
index fa61044..dd086b8 100644
--- a/extras/jetson/dockerfile_ros
+++ b/extras/jetson/dockerfile_ros
@@ -40,12 +40,12 @@ RUN cd /project/dev_ws/; colcon build
 RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
 
 # Copy modules
-COPY ./ros/rpt2D_wrapper_py /RapidPoseTriangulation/ros/rpt2D_wrapper_py/
-COPY ./ros/rpt2D_wrapper_cpp /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/
+COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
+COPY ./scripts/ /RapidPoseTriangulation/scripts/
+COPY ./extras/ros/rpt2d_wrapper_cpp /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
 
 # Link and build as ros package
-RUN ln -s  /RapidPoseTriangulation/ros/rpt2D_wrapper_py/ /project/dev_ws/src/rpt2D_wrapper_py
-RUN ln -s  /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/ /project/dev_ws/src/rpt2D_wrapper_cpp
+RUN ln -s  /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
 RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
 # Update ros packages -> autocompletion and check