diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
index 3f4da36a2a97d1f586871299514f8b3ced234c36..8d3dde864e2f281809f4a6573b32d244b5b6e3e2 100644
--- a/dockerfiles/devenv.Dockerfile
+++ b/dockerfiles/devenv.Dockerfile
@@ -21,6 +21,7 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
     apt-transport-https \
     ca-certificates \
     curl \
+    dbus-x11 \
     gnupg-agent \
     software-properties-common \
     dialog 2>&1 \
@@ -50,37 +51,37 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
 
 RUN if [ "${ROS_DISTRO}" != "humble"  ]; \
     then \
-        apt-get -y install \
-        ros-${ROS_DISTRO}-catkin \
-        ros-${ROS_DISTRO}-plotjuggler \
-        ros-${ROS_DISTRO}-plotjuggler-ros \
-        ros-${ROS_DISTRO}-rosmon \
-        ros-${ROS_DISTRO}-rqt-controller-manager \
-        ros-${ROS_DISTRO}-rqt-joint-trajectory-controller; \
+    apt-get -y install \
+    ros-${ROS_DISTRO}-catkin \
+    ros-${ROS_DISTRO}-plotjuggler \
+    ros-${ROS_DISTRO}-plotjuggler-ros \
+    ros-${ROS_DISTRO}-rosmon \
+    ros-${ROS_DISTRO}-rqt-controller-manager \
+    ros-${ROS_DISTRO}-rqt-joint-trajectory-controller; \
     fi
 
 RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
     then \
-        apt-get -y install \
-            ipython3 \
-            python-is-python3 \
-            python3-catkin-tools \
-            python3-click \
-            python3-numpy \
-            python3-osrf-pycommon \
-            python3-vcstool \
-            # clang
-            clangd liblldb-dev libllvm-ocaml-dev python3-clang; \
+    apt-get -y install \
+    ipython3 \
+    python-is-python3 \
+    python3-catkin-tools \
+    python3-click \
+    python3-numpy \
+    python3-osrf-pycommon \
+    python3-vcstool \
+    # clang
+    clangd liblldb-dev libllvm-ocaml-dev python3-clang; \
     elif [ "${ROS_DISTRO}" = "melodic" ]; \
     then \
-        apt-get -y install \
-            ipython \
-            python-catkin-tools \
-            python-pip \
-            python-osrf-pycommon\
-            python-vcstool; \
+    apt-get -y install \
+    ipython \
+    python-catkin-tools \
+    python-pip \
+    python-osrf-pycommon\
+    python-vcstool; \
     else \
-        echo "Not supported version"; \
+    echo "Not supported version"; \
     fi
 
 # Configure system to look for debian packages in the Artifactory repository
@@ -107,7 +108,11 @@ RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/git
 # Install pip3 and packages
 RUN apt-get install -y \
     python3-pip \
-    && pip3 install sqlite_utils
+    && pip3 install sqlite_utils \
+    && pip3 install conan==1.59 \
+    && conan config set general.revisions_enabled=1 \
+    && conan profile new default --detect > /dev/null \
+    && conan profile update settings.compiler=gcc default
 
 # Install node for UIs
 RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
@@ -116,98 +121,107 @@ RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
 # ROS 1 WS dependencies
 RUN if [ "${ROS_DISTRO}" != "humble"  ]; \
     then \
-        apt-get -y install \
-        cython \
-        libceres-dev \
-        libcomedi-dev \
-        libglfw3-dev \
-        libmodbus-dev \
-        python-numpy \
-        python3-mock \
-        socat \
-        ros-${ROS_DISTRO}-ackermann-msgs \
-        ros-${ROS_DISTRO}-amcl \
-        ros-${ROS_DISTRO}-cartesian-trajectory-controller \
-        ros-${ROS_DISTRO}-chomp-motion-planner \
-        ros-${ROS_DISTRO}-collada-urdf \
-        ros-${ROS_DISTRO}-effort-controllers \
-        ros-${ROS_DISTRO}-force-torque-sensor-controller \
-        ros-${ROS_DISTRO}-gmapping \
-        ros-${ROS_DISTRO}-hector-gazebo-plugins \
-        ros-${ROS_DISTRO}-hector-mapping \
-        ros-${ROS_DISTRO}-imu-complementary-filter \
-        ros-${ROS_DISTRO}-imu-tools \
-        ros-${ROS_DISTRO}-industrial-core \
-        ros-${ROS_DISTRO}-industrial-robot-simulator \
-        ros-${ROS_DISTRO}-industrial-robot-status-controller \
-        ros-${ROS_DISTRO}-industrial-robot-status-interface \
-        ros-${ROS_DISTRO}-interactive-marker-twist-server \
-        ros-${ROS_DISTRO}-joint-trajectory-controller \
-        ros-${ROS_DISTRO}-joy \
-        ros-${ROS_DISTRO}-lms1xx \
-        ros-${ROS_DISTRO}-map-server \
-        ros-${ROS_DISTRO}-mavros-msgs \
-        ros-${ROS_DISTRO}-move-base \
-        ros-${ROS_DISTRO}-moveit-commander \
-        ros-${ROS_DISTRO}-moveit-fake-controller-manager \
-        ros-${ROS_DISTRO}-moveit-planners-chomp \
-        ros-${ROS_DISTRO}-moveit-planners-ompl \
-        ros-${ROS_DISTRO}-moveit-resources \
-        ros-${ROS_DISTRO}-moveit-ros-benchmarks \
-        ros-${ROS_DISTRO}-moveit-ros-move-group \
-        ros-${ROS_DISTRO}-moveit-ros-planning-interface \
-        ros-${ROS_DISTRO}-moveit-ros-visualization \
-        ros-${ROS_DISTRO}-moveit-ros-warehouse \
-        ros-${ROS_DISTRO}-moveit-setup-assistant\
-        ros-${ROS_DISTRO}-moveit-simple-controller-manager \
-        ros-${ROS_DISTRO}-moveit-visual-tools \
-        ros-${ROS_DISTRO}-navigation \
-        ros-${ROS_DISTRO}-pass-through-controllers \
-        ros-${ROS_DISTRO}-pilz-industrial-motion \
-        ros-${ROS_DISTRO}-rc-visard \
-        ros-${ROS_DISTRO}-realsense2-camera \
-        ros-${ROS_DISTRO}-realsense2-description \
-        ros-${ROS_DISTRO}-robot-localization \
-        ros-${ROS_DISTRO}-ros-control \
-        ros-${ROS_DISTRO}-ros-control-boilerplate \
-        ros-${ROS_DISTRO}-ros-controllers \
-        ros-${ROS_DISTRO}-rosbridge-server \
-        ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
-        ros-${ROS_DISTRO}-serial \
-        ros-${ROS_DISTRO}-spacenav-node \
-        ros-${ROS_DISTRO}-speed-scaling-interface \
-        ros-${ROS_DISTRO}-speed-scaling-state-controller \
-        ros-${ROS_DISTRO}-teb-local-planner \
-        ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
-        ros-${ROS_DISTRO}-twist-controller \
-        ros-${ROS_DISTRO}-twist-mux \
-        ros-${ROS_DISTRO}-ur-client-library \
-        ros-${ROS_DISTRO}-ur-msgs \
-        ros-${ROS_DISTRO}-usb-cam \
-        ros-${ROS_DISTRO}-velocity-controllers \
-        ros-${ROS_DISTRO}-warehouse-ros-mongo; \
+    apt-get -y install \
+    cython \
+    libceres-dev \
+    libcomedi-dev \
+    libglfw3-dev \
+    libmodbus-dev \
+    python-numpy \
+    python3-mock \
+    socat \
+    ros-${ROS_DISTRO}-ackermann-msgs \
+    ros-${ROS_DISTRO}-amcl \
+    ros-${ROS_DISTRO}-cartesian-trajectory-controller \
+    ros-${ROS_DISTRO}-chomp-motion-planner \
+    ros-${ROS_DISTRO}-collada-urdf \
+    ros-${ROS_DISTRO}-effort-controllers \
+    ros-${ROS_DISTRO}-force-torque-sensor-controller \
+    ros-${ROS_DISTRO}-gmapping \
+    ros-${ROS_DISTRO}-hector-gazebo-plugins \
+    ros-${ROS_DISTRO}-hector-mapping \
+    ros-${ROS_DISTRO}-imu-complementary-filter \
+    ros-${ROS_DISTRO}-imu-tools \
+    ros-${ROS_DISTRO}-industrial-core \
+    ros-${ROS_DISTRO}-industrial-robot-simulator \
+    ros-${ROS_DISTRO}-industrial-robot-status-controller \
+    ros-${ROS_DISTRO}-industrial-robot-status-interface \
+    ros-${ROS_DISTRO}-interactive-marker-twist-server \
+    ros-${ROS_DISTRO}-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-joy \
+    ros-${ROS_DISTRO}-lms1xx \
+    ros-${ROS_DISTRO}-map-server \
+    ros-${ROS_DISTRO}-mavros-msgs \
+    ros-${ROS_DISTRO}-move-base \
+    ros-${ROS_DISTRO}-moveit-commander \
+    ros-${ROS_DISTRO}-moveit-fake-controller-manager \
+    ros-${ROS_DISTRO}-moveit-planners-chomp \
+    ros-${ROS_DISTRO}-moveit-planners-ompl \
+    ros-${ROS_DISTRO}-moveit-resources \
+    ros-${ROS_DISTRO}-moveit-ros-benchmarks \
+    ros-${ROS_DISTRO}-moveit-ros-control-interface \
+    ros-${ROS_DISTRO}-moveit-ros-move-group \
+    ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+    ros-${ROS_DISTRO}-moveit-ros-visualization \
+    ros-${ROS_DISTRO}-moveit-ros-warehouse \
+    ros-${ROS_DISTRO}-moveit-setup-assistant \
+    ros-${ROS_DISTRO}-moveit-simple-controller-manager \
+    ros-${ROS_DISTRO}-moveit-visual-tools \
+    ros-${ROS_DISTRO}-navigation \
+    ros-${ROS_DISTRO}-pass-through-controllers \
+    ros-${ROS_DISTRO}-pilz-industrial-motion \
+    ros-${ROS_DISTRO}-rc-visard \
+    ros-${ROS_DISTRO}-realsense2-camera \
+    ros-${ROS_DISTRO}-realsense2-description \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-ros-control \
+    ros-${ROS_DISTRO}-ros-control-boilerplate \
+    ros-${ROS_DISTRO}-ros-controllers \
+    ros-${ROS_DISTRO}-ros-industrial-cmake-boilerplate \
+    ros-${ROS_DISTRO}-rosbridge-server \
+    ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-serial \
+    ros-${ROS_DISTRO}-spacenav-node \
+    ros-${ROS_DISTRO}-speed-scaling-interface \
+    ros-${ROS_DISTRO}-speed-scaling-state-controller \
+    ros-${ROS_DISTRO}-teb-local-planner \
+    ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
+    ros-${ROS_DISTRO}-twist-controller \
+    ros-${ROS_DISTRO}-twist-mux \
+    ros-${ROS_DISTRO}-ur-client-library \
+    ros-${ROS_DISTRO}-ur-msgs \
+    ros-${ROS_DISTRO}-usb-cam \
+    ros-${ROS_DISTRO}-velocity-controllers \
+    ros-${ROS_DISTRO}-warehouse-ros-mongo; \
+    # ROS2 Humble dpendencies
+    else \
+    apt-get -y install \
+    ros-${ROS_DISTRO}-moveit \
+    ros-${ROS_DISTRO}-ros2-control; \
     fi
 
 RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
     then \
-        apt-get -y install \
-            ipython3 \
-            python-is-python3 \
-            python3-catkin-tools \
-            python3-click \
-            python3-numpy \
-            python3-osrf-pycommon; \
+    apt-get -y install \
+    ipython3 \
+    python-is-python3 \
+    python3-catkin-tools \
+    python3-click \
+    ros-${ROS_DISTRO}-libpcan \
+    python3-numpy \
+    python3-tk \
+    python3-osrf-pycommon; \
     elif [ "${ROS_DISTRO}" = "melodic" ]; \
     then \
-        apt-get -y install \
-            ros-${ROS_DISTRO}-ar-track-alvar \
-            python-mock \
-            python-funcsigs \
-            python-sqlalchemy \
-            python3-rospkg-modules \
-            python3-yaml; \
+    apt-get -y install \
+    ros-${ROS_DISTRO}-ar-track-alvar \
+    python-mock \
+    python-funcsigs \
+    python-sqlalchemy \
+    python3-rospkg-modules \
+    python3-yaml; \
     else \
-        echo "Not supported version"; \
+    echo "Not supported version"; \
     fi
 
 WORKDIR /tmp/srcs/
@@ -215,14 +229,14 @@ COPY /extra_libs/* ./
 
 RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
     then \
-        dpkg -i bat*.deb; \
-        dpkg -i lsd*.deb; \
-        dpkg -i ripgrep*.deb; \
+    dpkg -i bat*.deb; \
+    dpkg -i lsd*.deb; \
+    dpkg -i ripgrep*.deb; \
     elif [ "${ROS_DISTRO}" = "melodic"  ]; \
     then \
-        dpkg -i *.deb; \
+    dpkg -i *.deb; \
     else \
-        echo "Not supported version"; \
+    echo "Not supported version"; \
     fi
 
 RUN rm -rf *
@@ -230,11 +244,13 @@ RUN rm -rf *
 RUN apt-get --reinstall install -y libnotify-bin notify-osd
 
 # Update this date to re-run the image final update
-LABEL image.date=03-02-2023
+LABEL image.date=24-08-2023
 
 # Update final image
 RUN apt-get update \
-    && apt-get -y upgrade
+    && apt-get -y upgrade \
+    && apt-get -y autoremove \
+    && apt-get -y autoclean
 
 # Set entrypoint
 COPY ./ros_entrypoint.sh /
@@ -247,4 +263,4 @@ ENV SHELL /usr/bin/zsh
 ENV RUNNING_IN_DOCKER true
 
 # Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
+ENV DEBIAN_FRONTEND=