diff --git a/CHANGELOG.md b/CHANGELOG.md
index b126162..0f04989 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Added
+
 - [PR-11](https://github.com/AGH-CEAI/aegis_docker/pull/11) - Added Container for PPA server.
 - [PR-9](https://github.com/AGH-CEAI/aegis_docker/pull/9) - Added documentation for using toolbx containers in Ubuntu 22.04/24.04.
 - [PR-1](https://github.com/AGH-CEAI/aegis_docker/pull/1) - Initial version of the Aegis development container.
@@ -19,6 +20,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Removed
 
 ### Fixed
+
+- [PR-12](https://github.com/AGH-CEAI/aegis_docker/pull/12) - Fixed missing dependencies (Issue #7) for `depthai-ros`, `ros2-control`, `clang` and `pylon`.
 - [PR-2](https://github.com/AGH-CEAI/aegis_docker/pull/1) - Fixed typo with the default branch name
 
 ### Security
diff --git a/Dockerfile b/Dockerfile
index d5f97b0..654b3cc 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,23 +1,44 @@
 ARG ROS_DISTRO=humble
+ARG PPA_HOSTNAME=geonosis
 
 FROM docker.io/osrf/ros:${ROS_DISTRO}-desktop
+ARG ROS_DISTRO
+ARG PPA_HOSTNAME
 
 WORKDIR /ws
 
-RUN apt-get update && \
-    apt-get install -y \
+RUN apt update  \
+    && apt install -y \
+        clang \
         zsh \
-        ros-dev-tools && \
+        ros-dev-tools \
+        ros-${ROS_DISTRO}-depthai-ros \
+        ros-${ROS_DISTRO}-ros2-control \
+        ros-${ROS_DISTRO}-ros2-controllers \
     # Setup workspace
-    git clone -b humble-devel https://github.com/AGH-CEAI/aegis_ros.git src/aegis_ros && \
-    vcs import src < src/aegis_ros/aegis/aegis.repos && \
+    && git clone -b ${ROS_DISTRO}-devel https://github.com/AGH-CEAI/aegis_ros.git src/aegis_ros \
+    && vcs import src < src/aegis_ros/aegis/aegis.repos \
     # Install dependencies
-    rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src -y -i && \
+    && rosdep update --rosdistro $ROS_DISTRO \
+    && rosdep install --from-paths src -y -i \
     # Size optimalization
-    export SUDO_FORCE_REMOVE=yes && \
-    apt-get autoremove -y && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
+    && export SUDO_FORCE_REMOVE=yes \
+    && apt autoremove -y \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# Local PPA for Basler proprietary packages
+RUN echo "deb [trusted=yes] http://${PPA_HOSTNAME}/debian ./" | tee -a /etc/apt/sources.list > /dev/null \
+    && apt update  \
+    && apt install -y \
+        libxcb-cursor-dev \
+    && apt install -y \
+        codemeter \
+        pylon \
+        pylon-supplementary-package-for-blaze \
+    && export SUDO_FORCE_REMOVE=yes \
+    && apt autoremove -y \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
 
 CMD ["/bin/bash"]