diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index e01c35b..dd40b9f 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -116,7 +116,9 @@ RUN apt-get update && apt-get install -y \
 
 RUN echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt
 
-COPY ./ros_entrypoint.sh /
+RUN sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
+        ros2 run healthcheck_pkg healthcheck_node &' \
+        /ros_entrypoint.sh
 
 COPY ./healthcheck.sh /
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
diff --git a/Dockerfile.simulation b/Dockerfile.simulation
index a909d09..ba15d2e 100644
--- a/Dockerfile.simulation
+++ b/Dockerfile.simulation
@@ -66,7 +66,9 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
 
 RUN echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt
 
-COPY ./ros_entrypoint.sh /
+RUN sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
+        ros2 run healthcheck_pkg healthcheck_node &' \
+        /ros_entrypoint.sh
 
 COPY ./healthcheck.sh /
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
deleted file mode 100755
index 0799449..0000000
--- a/ros_entrypoint.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-set -e
-
-# Run husarnet-dds singleshot and capture the output
-output=$(husarnet-dds singleshot || true)
-[[ "$HUSARNET_DDS_DEBUG" == "TRUE" ]] && echo "$output"
-
-# Setup ROS environment
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-test -f "/ros2_ws/install/setup.bash" && source "/ros2_ws/install/setup.bash"
-
-# Run healthcheck in the background
-ros2 run healthcheck_pkg healthcheck_node &
-
-# Execute additional commands
-exec "$@"