diff --git a/entrypoint.sh b/entrypoint.sh
index 5a06166..376a182 100755
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -2,13 +2,41 @@
 source /opt/ros/humble/setup.bash
 
 # make VNC port configurable (prepare for moving to a dedicated port)
-vnc_port="${VNC_PORT:=3000}"
+# vnc_port="${VNC_PORT:=3000}"
 
 # start X11 server
-Xvfb :0 -screen 0 1920x1080x16 &
+# Xvfb :0 -screen 0 1920x1080x16 &
 
 # start VNC server
-x11vnc -display :0 -rfbport "$vnc_port" -forever -xkb -noxrecord -noxfixes -noshm -nopw -wait 5 -shared &
+# x11vnc -display :0 -rfbport "$vnc_port" -forever -xkb -noxrecord -noxfixes -noshm -nopw -wait 5 -shared &
 
 # start window manager
-HOME=/root DISPLAY=:0 USER=root openbox
+# HOME=/root DISPLAY=:0 USER=root openbox
+
+export DISPLAY=${DISPLAY:-:0}
+export XAUTHORITY=/tmp/.docker.xauth
+
+ros-with-env ros2 run rviz2 rviz2 &
+
+child=$!
+
+echo "Waiting for pid $child"
+# * Calling "wait" will then wait for the job with the specified by $child to finish, or for any signals to be fired.
+#   Due to "or for any signals to be fired", "wait" will also handle SIGTERM and it will shutdown before
+#   the node ends gracefully.
+#   The solution is to add a second "wait" call and remove the trap between the two calls.
+# * Do not use -e flag in the first wait call because wait will exit with error after catching SIGTERM.
+set +e
+wait $child
+set -e
+trap - TERM
+wait $child
+RESULT=$?
+
+if [ $RESULT -ne 0 ]; then
+		echo "ERROR: Detector sim failed with code $RESULT" >&2
+		exit $RESULT
+else
+		echo "INFO: Detector sim finished successfully, but returning 125 code for docker to restart properly." >&2
+		exit 125
+fi