diff --git a/infrastructure/scripts/docker/Dockerfile b/infrastructure/scripts/docker/Dockerfile
index 421f46a..8188cec 100644
--- a/infrastructure/scripts/docker/Dockerfile
+++ b/infrastructure/scripts/docker/Dockerfile
@@ -3,131 +3,147 @@ FROM ubuntu:bionic
 #
 # Install devtools
 #
-
-RUN apt update
-RUN apt install software-properties-common -y
-RUN add-apt-repository ppa:ubuntu-toolchain-r/test -y
-RUN apt install build-essential -y
-RUN apt update
-
-RUN apt install git -y
-RUN apt install cmake gcc-7 g++-7 -y
-
-RUN apt install libgtest-dev -y
-RUN cd /usr/src/gtest; cmake CMakeLists.txt; make; cp *.a /usr/lib
-RUN apt install i2c-tools -y
-RUN apt install vim nano -y
-RUN apt install gdb -y
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository ppa:ubuntu-toolchain-r/test -y && \
+    apt install build-essential -y && \
+    apt update && \
+    apt install git -y && \
+    apt install cmake gcc-7 g++-7 -y && \
+    apt install libgtest-dev -y && \
+    cd /usr/src/gtest; cmake CMakeLists.txt; make; cp *.a /usr/lib && \
+    apt install i2c-tools -y && \
+    apt install vim nano -y && \
+    apt install gdb -y
 
 #
 # Libs
 #
-
-RUN apt install libxmu-dev libxi-dev -y
-RUN apt install libassimp-dev -y
-RUN apt install libyaml-cpp-dev -y
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata
-RUN apt install libssl-dev -y
-RUN apt install libreadline6-dev -y
-RUN apt install libserial-dev -y
+RUN apt install libxmu-dev libxi-dev -y && \
+    apt install libassimp-dev -y && \
+    apt install libyaml-cpp-dev -y && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata && \
+    apt install libssl-dev -y && \
+    apt install libreadline6-dev -y && \
+    apt install libserial-dev -y
 
 #
 # Process management
 #
-RUN apt install supervisor -y
-RUN mkdir -p /var/log/supervisor
-RUN mkdir /var/log/supervisord/
-
+RUN apt install supervisor -y && \
+    mkdir -p /var/log/supervisor && \
+    mkdir /var/log/supervisord/
 
 #
 # Python
 #
-
-RUN apt install pkg-config python-pip ipython -y
-RUN pip install --upgrade pip
-RUN apt install libfreetype6-dev -y
-RUN pip install matplotlib
-RUN pip install colorama
-RUN pip install generate-cmake
-RUN apt install python-tk -y
+RUN apt install pkg-config python-pip ipython -y && \
+    apt install libfreetype6-dev -y && \
+    pip install matplotlib && \
+    pip install colorama && \
+    pip install generate-cmake==1.6 && \
+    apt install python-tk -y
 
 #
 # Gl Viewer Support
 #
-RUN apt update
-RUN apt install xorg-dev libglu1-mesa-dev -y
-RUN apt install libglfw3 libglfw3-dev libglew-dev -y
-RUN apt install freeglut3-dev -y
-
+RUN apt update && \
+    apt install xorg-dev libglu1-mesa-dev -y && \
+    apt install libglfw3 libglfw3-dev libglew-dev -y && \
+    apt install freeglut3-dev -y
 
 #
 # xvfb for x-fowarding while running headless (on a mac, server, or vehicle node)
 #
-
-RUN apt install -y xvfb
 ADD support/xvfb.init /etc/init.d/xvfb
-RUN chmod +x /etc/init.d/xvfb
-RUN update-rc.d xvfb defaults
+RUN apt install -y xvfb && \
+    chmod +x /etc/init.d/xvfb && \
+    update-rc.d xvfb defaults
 CMD (service xvfb start; export DISPLAY=:10;)
 
-
 #
 # Mosquitto
 #
 RUN apt install mosquitto mosquitto-clients -y
 
-
 #
 # paho.mqtt.cpp
 #
-
-RUN apt install doxygen graphviz -y
-RUN git clone https://github.com/eclipse/paho.mqtt.c.git; cd paho.mqtt.c; git checkout v1.2.1; cmake -Bbuild -H. -DPAHO_WITH_SSL=ON; cmake --build build/ --target install; ldconfig
-RUN rm -r paho.mqtt.c
-RUN git clone https://github.com/eclipse/paho.mqtt.cpp; cd paho.mqtt.cpp; cmake -Bbuild -H. -DPAHO_BUILD_DOCUMENTATION=TRUE -DPAHO_BUILD_SAMPLES=TRUE; cmake --build build/ --target install
-RUN rm -r paho.mqtt.cpp
-
+RUN apt install doxygen graphviz -y && \
+    git clone https://github.com/eclipse/paho.mqtt.c.git && \
+    cd paho.mqtt.c && \
+    git checkout v1.2.1 && \
+    cmake -Bbuild -H. -DPAHO_WITH_SSL=ON && \
+    cmake --build build/ --target install && \
+    ldconfig && \
+    cd .. && \
+    rm -r paho.mqtt.c && \
+    git clone https://github.com/eclipse/paho.mqtt.cpp && \
+    cd paho.mqtt.cpp && \
+    git checkout f737952c94dd3db62b7ddc75e7d4f8c3ac5cb44e && \
+    cmake -Bbuild -H. -DPAHO_BUILD_DOCUMENTATION=TRUE -DPAHO_BUILD_SAMPLES=TRUE && \
+    cmake --build build/ --target install && \
+    cd .. && \
+    rm -r paho.mqtt.cpp
 
 #
 # GUID library
 #
-
-RUN apt install uuid-dev -y
-RUN git clone https://github.com/graeme-hill/crossguid.git; cd crossguid; git reset --hard 0f2753174c914bc561504b14c963d179283fe829; mkdir build; cd build; cmake ..; make install
-RUN rm -r crossguid
-
+RUN apt install uuid-dev -y && \
+    git clone https://github.com/graeme-hill/crossguid.git && \
+    cd crossguid && \
+    git reset --hard 0f2753174c914bc561504b14c963d179283fe829 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make install && \
+    cd ../.. && \
+    rm -r crossguid
 
 #
 # X tests (xeyes, glxgears, etc.)
 #
-
 RUN apt install mesa-utils x11-apps -y
 
-
 #
 # Webcam tests (ex. fswebcam --save test.jpeg; eog test.jpeg)
 #
-
 RUN apt install fswebcam eog -y
 
-
 #
 # Adding serial library
 #
-RUN apt install -y autoconf libtool
-RUN git clone https://github.com/martinling/libserialport.git; cd libserialport; ./autogen.sh; ./configure; make; make install;
-RUN rm -r libserialport
-RUN ldconfig
-
+RUN apt install -y autoconf libtool && \
+    git clone https://github.com/martinling/libserialport.git && \
+    cd libserialport && \
+    ./autogen.sh && \
+    ./configure && \
+    make && \
+    make install && \
+    cd .. && \
+    ldconfig && \
+    rm -r libserialport
 
 #
 # Opencv
 #
-
-RUN cd /; apt install libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev -y
-RUN git clone https://github.com/opencv/opencv_contrib.git --depth=1
-RUN cd opencv_contrib; CONTRIB_PATH=$PWD; git reset --hard a17185c6dc7aa554591ad1be38923232472f8001; cd ..; git clone https://github.com/opencv/opencv.git --depth=1; cd opencv; git reset --hard e2dbf054ac5c54bd328f648d9d6146c09dfd5484; mkdir build; cd build; cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=$CONTRIB_PATH/modules ..; make -j3; make install
-RUN rm -rf opencv
-RUN rm -rf opencv_contrib
-
-RUN ldconfig -p
+RUN cd / && \
+    apt install libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev -y && \
+    git clone https://github.com/opencv/opencv_contrib.git && \
+    cd opencv_contrib && \
+    CONTRIB_PATH=$PWD && \
+    git reset --hard a17185c6dc7aa554591ad1be38923232472f8001 && \
+    cd .. && \
+    git clone https://github.com/opencv/opencv.git && \
+    cd opencv && \
+    git reset --hard e2dbf054ac5c54bd328f648d9d6146c09dfd5484 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=$CONTRIB_PATH/modules .. && \
+    make -j3 && \
+    make install && \
+    cd ../.. && \
+    ln -s /usr/local/include/opencv4/opencv2/ /usr/local/include/ && \
+    rm -rf opencv && \
+    rm -rf opencv_contrib && \
+    ldconfig -p