diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index 23a8ec6..c66f76f 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -1,6 +1,6 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
-ARG ROSBOT_FW_RELEASE=0.3.4
+ARG ROSBOT_FW_RELEASE=0.7.0
 ## ============================ STM32FLASH =================================
 # stm32flash needs an older version of glibc (2.28), which is why ubuntu 18.04 was used
 FROM ubuntu:18.04 AS stm32flash_builder_and_downloader
diff --git a/demo/compose.yaml b/demo/compose.yaml
index d8ff7e7..0226cba 100644
--- a/demo/compose.yaml
+++ b/demo/compose.yaml
@@ -9,13 +9,17 @@ services:
   rosbot:
     image: husarion/rosbot:humble
     <<: *net-config
+    environment:
+      - ROS_DOMAIN_ID
     command: ros2 launch rosbot_bringup bringup.launch.py mecanum:=${MECANUM:-False}
 
-  microros:
-    image: husarion/micro-ros-agent:humble
+
+  micro-xrce-agent:
+    image: husarion/micro-xrce-agent:v2.4.1
     <<: *net-config
     devices:
       - ${SERIAL_PORT:?err}
     environment:
+      - XRCE_DOMAIN_ID_OVERRIDE=${ROS_DOMAIN_ID}  # ***
       - SERIAL_PORT
-    command: ros2 run micro_ros_agent micro_ros_agent serial -D $SERIAL_PORT serial -b 576000 # -v6
\ No newline at end of file
+    command: MicroXRCEAgent serial -D $SERIAL_PORT serial -b 576000 # -v6