diff --git a/get-ros b/get-ros
index 0f1f9a4..0ac98fa 100755
--- a/get-ros
+++ b/get-ros
@@ -1,15 +1,30 @@
 #!/bin/bash
 . /etc/os-release
 export DEBIAN_FRONTEND=noninteractive
+
+# --- Setup ROS 2 apt sources and keys ---
 curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -k > /usr/share/keyrings/ros-archive-keyring.gpg &
 curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc -k | apt-key add - &
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $UBUNTU_CODENAME main" > /etc/apt/sources.list.d/ros2.list &
 wait
+
 apt-get -y update
 export ROSDISTRO=${ROSDISTRO:-$("`dirname "$0"`/detect-ros-distro")}
 [[ -z "$ROSDISTRO" ]] && exit 1
+
+# --- Core ROS 2 packages ---
 apt-get -y install ros-$ROSDISTRO-ros-base ros-$ROSDISTRO-rqt python3-colcon-ros python3-colcon-common-extensions python3-rosdep
 apt-get -y install python3-pip python3-venv python3-sklearn python3-pandas python3-rosdep
 apt-get -y install ros-$ROSDISTRO-diagnostic-updater ros-$ROSDISTRO-angles ros-$ROSDISTRO-rqt-reconfigure ros-$ROSDISTRO-rosbag2-storage-mcap
 apt-get -y install libpcap-dev libpcl-dev
+
+# --- EUFS / Simulation dependencies ---
+apt-get -y install \
+  ros-$ROSDISTRO-gazebo-dev \
+  ros-$ROSDISTRO-rviz2 \
+  ros-$ROSDISTRO-rviz-common \
+  ros-$ROSDISTRO-ackermann-msgs \
+  ros-$ROSDISTRO-image-geometry
+
+# --- Initialize rosdep ---
 rosdep init