diff --git a/.dockerignore b/.dockerignore
index c1cd414..3a12b04 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -9,4 +9,5 @@
 !launch.sh
 
 # YOUR FILES LISTED BELOW THIS LINE (IMPORTANT: PREPEND !)
+!install_torch.sh
 # ----------------------------------------------------------------------------
diff --git a/Dockerfile b/Dockerfile
index c5e59c2..0626a46 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -8,9 +8,32 @@ ARG MAJOR=daffy
 ARG BASE_TAG=${MAJOR}-${ARCH}
 ARG BASE_IMAGE=dt-core
 
+
 # define base image
 FROM duckietown/${BASE_IMAGE}:${BASE_TAG}
 
+ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES all
+
+ENV CUDA_VERSION 10.2.89
+ENV CUDA_PKG_VERSION 10-2=$CUDA_VERSION-1
+ENV NCCL_VERSION 2.8.4
+ENV CUDNN_VERSION 8.1.1.33
+
+ENV PYTORCH_VERSION 1.7.0
+ENV PYTORCHVISION_VERSION 0.8.0a0+2f40a48
+
+ENV TENSORRT_VERSION 7.1.3.4
+
+ENV PYCUDA_VERSION 2021.1
+
+ARG PIP_INDEX_URL="https://pypi.org/simple"
+ENV PIP_INDEX_URL=${PIP_INDEX_URL}
+
+RUN ln -s /usr/local/cuda-10.2 /usr/local/cuda
 # define repository path
 ARG REPO_NAME
 ARG REPO_PATH="${CATKIN_WS_DIR}/src/${REPO_NAME}"
@@ -34,13 +57,17 @@ RUN apt-get update \
 
 # install python dependencies
 RUN pip install -r ${REPO_PATH}/dependencies-py.txt
-
 # copy the source code
 COPY . "${REPO_PATH}/"
 
+RUN pwd ${REPO_PATH}/
+RUN ls ${REPO_PATH}/
+
 RUN cp -r "${REPO_PATH}/packages/dt-core" "${CATKIN_WS_DIR}/src/"
 RUN rm -r "${REPO_PATH}/packages/dt-core"
 
+RUN bash ${REPO_PATH}/install_torch.sh
+
 # build packages
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
   catkin build \
diff --git a/dependencies-py.txt b/dependencies-py.txt
index 0645b4e..43371c0 100644
--- a/dependencies-py.txt
+++ b/dependencies-py.txt
@@ -1 +1,2 @@
 # LIST YOUR PYTHON PACKAGES HERE
+# torch
\ No newline at end of file
diff --git a/install_torch.sh b/install_torch.sh
new file mode 100644
index 0000000..4ed01c7
--- /dev/null
+++ b/install_torch.sh
@@ -0,0 +1,44 @@
+#!/bin/bash
+
+set -e
+
+apt-get update
+apt-get install -y --no-install-recommends \
+    libopenblas-base \
+    libopenmpi-dev \
+    g++-8 \
+    unzip
+rm -rf /var/lib/apt/lists/*
+
+# download PyTorch
+echo "Downloading PyTorch v${PYTORCH_VERSION}..."
+PYTORCH_WHEEL_NAME="torch-${PYTORCH_VERSION}.cuda.cudnn-cp38-cp38-linux_aarch64.whl"
+WHEEL_URL="https://duckietown-public-storage.s3.amazonaws.com/assets/python/wheels/${PYTORCH_WHEEL_NAME}"
+wget -q "${WHEEL_URL}" -O "/tmp/${PYTORCH_WHEEL_NAME}"
+# install PyTorch
+echo "Installing PyTorch v${PYTORCH_VERSION}..."
+pip3 install "/tmp/${PYTORCH_WHEEL_NAME}"
+rm "/tmp/${PYTORCH_WHEEL_NAME}"
+
+# download TensorRT
+echo "Downloading TensorRT v${TENSORRT_VERSION}..."
+TENSORRT_WHEEL_NAME=tensorrt-${TENSORRT_VERSION}-cp38-cp38-linux_aarch64.whl
+TENSORRT_WHEEL_URL="https://duckietown-public-storage.s3.amazonaws.com/assets/python/wheels/${TENSORRT_WHEEL_NAME}"
+wget -q "${TENSORRT_WHEEL_URL}" -O "/tmp/${TENSORRT_WHEEL_NAME}"
+# install TensorRT
+echo "Installing TensorRT v${TENSORRT_VERSION}..."
+pip3 install "/tmp/${TENSORRT_WHEEL_NAME}"
+rm "/tmp/${TENSORRT_WHEEL_NAME}"
+
+# download PyCUDA
+echo "Downloading PyCUDA v${PYCUDA_VERSION}..."
+PYCUDA_WHEEL_NAME=pycuda-${PYCUDA_VERSION}-cp38-cp38-linux_aarch64.whl
+PYCUDA_WHEEL_URL="https://duckietown-public-storage.s3.amazonaws.com/assets/python/wheels/${PYCUDA_WHEEL_NAME}"
+wget -q "${PYCUDA_WHEEL_URL}" -O "/tmp/${PYCUDA_WHEEL_NAME}"
+# install PyCUDA
+echo "Installing PyCUDA v${PYCUDA_VERSION}..."
+pip3 install "/tmp/${PYCUDA_WHEEL_NAME}"
+rm "/tmp/${PYCUDA_WHEEL_NAME}"
+
+# clean
+pip3 uninstall -y dataclasses
\ No newline at end of file
diff --git a/launch.sh b/launch.sh
index bc03a90..0a9d04a 100755
--- a/launch.sh
+++ b/launch.sh
@@ -5,11 +5,12 @@ set -e
 # YOUR CODE BELOW THIS LINE
 # ----------------------------------------------------------------------------
 echo "This is an empty launch script. Update it to launch your application."
-#roslaunch circle_drive circle_drive.launch
+
+roslaunch circle_drive circle_drive.launch
 #roslaunch duckietown_demos lane_following.launch
-roslaunch --wait circle_drive indefinite_navigation2.launch &
+#roslaunch --wait circle_drive indefinite_navigation2.launch &
 
 #roslaunch --wait <package> launchfile.launch &
-sleep 5
+#sleep 5
 # we put a short sleep in here because rostopic will fail if there's no roscore yet
-rostopic pub /$VEHICLE_NAME/fsm_node/mode duckietown_msgs/FSMState '{header: {}, state: "LANE_FOLLOWING"}'
+#rostopic pub /$VEHICLE_NAME/fsm_node/mode duckietown_msgs/FSMState '{header: {}, state: "LANE_FOLLOWING"}'
diff --git a/packages/circle_drive/scripts/circle_drive.py b/packages/circle_drive/scripts/circle_drive.py
index 3d9da79..4baf8c3 100755
--- a/packages/circle_drive/scripts/circle_drive.py
+++ b/packages/circle_drive/scripts/circle_drive.py
@@ -3,6 +3,7 @@
 import rospy
 from duckietown.dtros import DTROS, NodeType
 from duckietown_msgs.msg import Twist2DStamped, StopLineReading
+import torch
 
 class MyNode(DTROS):
 
@@ -20,15 +21,15 @@ def run(self):
         # publish message every 1 second
         rate = rospy.Rate(0.5) # 1Hz
         while not rospy.is_shutdown():
-            continue
             msg = Twist2DStamped()
-            msg.v = 0.0
+            msg.v = 0.1
             msg.omega = 1.0
-            rospy.loginfo("Publishing message")
+            rospy.loginfo("Publishing message run")
+            rospy.loginfo("GPU available: {}".format(torch.cuda.is_available()))
             self.pub.publish(msg)
             rate.sleep()
             msg.omega = 0.0
-            rospy.loginfo("Publishing message -")
+            rospy.loginfo("Publishing message stop")
             self.pub.publish(msg)
             rate.sleep()