diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index 9949806e6..ba1217061 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -38,6 +38,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
+find_package(
+  HDF5
+  COMPONENTS CXX
+  REQUIRED)
 find_package(range-v3 REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(TBB REQUIRED)
@@ -46,10 +50,12 @@ add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(
   ${PROJECT_NAME}
   INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+            "${HDF5_INCLUDE_DIRS}")
 target_link_libraries(
   ${PROJECT_NAME}
   INTERFACE Eigen3::Eigen
+            ${HDF5_CXX_LIBRARIES}
             Sophus::Sophus
             TBB::tbb
             range-v3::range-v3)
diff --git a/beluga/cmake/Config.cmake.in b/beluga/cmake/Config.cmake.in
index dcfb5f50f..8d7b0e44f 100644
--- a/beluga/cmake/Config.cmake.in
+++ b/beluga/cmake/Config.cmake.in
@@ -3,6 +3,7 @@
 include(CMakeFindDependencyMacro)
 find_dependency(Eigen3 REQUIRED NO_MODULE)
 find_dependency(range-v3 REQUIRED)
+find_dependency(HDF5 COMPONENTS CXX REQUIRED)
 find_dependency(Sophus REQUIRED)
 find_dependency(TBB REQUIRED)
 
diff --git a/beluga/package.xml b/beluga/package.xml
index 2cdcbf0f4..0c6e33fa2 100644
--- a/beluga/package.xml
+++ b/beluga/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>cmake</buildtool_depend>
 
   <depend>eigen</depend>
+  <depend>libhdf5-dev</depend>
   <depend>range-v3</depend>
   <depend>sophus</depend>
   <depend>tbb</depend>
diff --git a/docker/run.sh b/docker/run.sh
index de627538e..769ad4716 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -66,10 +66,18 @@ while [[ "$1" != "" ]]; do
     esac
 done
 
-# Note: The `--build` flag was added to docker compose run after
-# https://github.com/docker/compose/releases/tag/v2.13.0.
-# We have this for convenience and compatibility with previous versions.
-# Otherwise, we could just forward the script arguments to the run verb.
-[[ "$BUILD" = true ]] && docker compose build dev
+DEV_CONTAINER_NAME=beluga_dev
 
-PRIVILEGED_CONTAINER=$PRIVILEGED_CONTAINER USERID=$(id -u) GROUPID=$(id -g) docker compose run --rm dev
+# Kill the container JIC it already exists, if building, to ensure we don't attach to an old container.
+[[ "$BUILD" = true ]] && docker compose build dev && docker rm -f $DEV_CONTAINER_NAME  2>/dev/null
+
+# Check if the container exists
+if docker ps -a --format '{{.Names}}' | grep -q $DEV_CONTAINER_NAME; then
+    # Attach to the container if it is running
+    echo "Found dev container running, attaching to it..."
+else
+    echo "Container '$DEV_CONTAINER_NAME' does not exist or is not running, proceeding to run it."
+    PRIVILEGED_CONTAINER=$PRIVILEGED_CONTAINER USERID=$(id -u) GROUPID=$(id -g) docker compose run --rm --detach --name $DEV_CONTAINER_NAME  dev
+fi
+
+docker exec -it $DEV_CONTAINER_NAME /ros_entrypoint.sh /bin/bash