diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index 98f292f..74443b3 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -106,6 +106,7 @@ RUN apt-get update && apt-get install -y \
         python3-pip \
         python3-rosdep \
         stm32flash \
+        gosu \
         ros-$ROS_DISTRO-teleop-twist-keyboard && \
     pip3 install pyftdi && \
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
diff --git a/demo/compose.build.yaml b/demo/compose.build.yaml
new file mode 100644
index 0000000..a958ba9
--- /dev/null
+++ b/demo/compose.build.yaml
@@ -0,0 +1,28 @@
+# Quick Start
+# 
+# 1. run `docker compose up` on the robot
+# 2. run `ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard` in the robot termianl
+
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+  environment:
+    - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
+    - ROS_DOMAIN_ID=10
+    - USER
+
+services:
+
+  rosbot:
+    build:
+      context: ..
+      dockerfile: Dockerfile.hardware
+    <<: *common-config
+    devices:
+      - ${SERIAL_PORT:?err}
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
diff --git a/demo/shm-only.xml b/demo/shm-only.xml
new file mode 100644
index 0000000..9b9149d
--- /dev/null
+++ b/demo/shm-only.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>shm_transport</transport_id>
+            <type>SHM</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="SHMParticipant" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>shm_transport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>
\ No newline at end of file
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
index d785c50..9bbfd75 100755
--- a/ros_entrypoint.sh
+++ b/ros_entrypoint.sh
@@ -19,6 +19,11 @@ source "/opt/ros/$ROS_DISTRO/setup.bash"
 source "/ros2_ws/install/setup.bash"
 source "/ros2_ws_healthcheck/install/setup.bash"
 
-ros2 run healthcheck_pkg healthcheck_node &
+if [ -z "$USER" ]; then
+    export USER=root
+elif ! id "$USER" &>/dev/null; then
+    useradd -ms /bin/bash "$USER"
+fi
 
-exec "$@"
+gosu $USER bash -c "ros2 run healthcheck_pkg healthcheck_node &"
+exec gosu $USER "$@"