diff --git a/canadarm2/README.md b/canadarm2/README.md
index de9be031..2d87d342 100644
--- a/canadarm2/README.md
+++ b/canadarm2/README.md
@@ -35,6 +35,8 @@ To start the demo, there are few dependencies that need to be installed. The fol
 
 This will start the demo in one terminal and gazebo in another terminal. To control the canadarm2, we provide ros2 services for the demo. You can control the rover using the following services.
 
+> NOTE: If you are using Isaac Sim, make sure to start the simulation in Isaac Sim before running the demo. You can find more information on how to start the simulation in Isaac Sim [here](https://github.com/space-ros/simulation/).
+
 1. Control arm of the canadarm
 
     ```bash
diff --git a/canadarm2/docker-compose.yml b/canadarm2/docker-compose.yml
index 9d1123a7..b47c60c3 100644
--- a/canadarm2/docker-compose.yml
+++ b/canadarm2/docker-compose.yml
@@ -44,3 +44,18 @@ services:
         "-c",
         "source /home/spaceros-user/canadarm_ws/install/setup.bash && ros2 launch canadarm_demo canadarm.launch.py",
       ]
+  canadarm_demo_isaacsim:
+    image: osrf/space-ros:canadarm_demo_isaacsim
+    build:
+      context: ./
+      dockerfile: ./Dockerfile
+    environment:
+      - PYTHONUNBUFFERED=1 # important to show error messages if a ros service crashes!
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    network_mode: host
+    command:
+      [
+        "bash",
+        "-c",
+        "source /home/spaceros-user/canadarm_ws/install/setup.bash && ros2 launch canadarm_demo canadarm.launch.py environment:=isaacsim",
+      ]
diff --git a/canadarm2/run.sh b/canadarm2/run.sh
index 2044f0a7..f270bb96 100755
--- a/canadarm2/run.sh
+++ b/canadarm2/run.sh
@@ -3,7 +3,7 @@
 docker compose down
 
 if [ "$1" == "--isaacsim" ]; then
-    docker compose up -d canadarm_isaacsim
+    docker compose up -d canadarm_demo_isaacsim
 else
-    docker compose up -d
+    docker compose up -d canadarm_demo canadarm_gui
 fi