diff --git a/.gitignore b/.gitignore
index 8494edc..0be3c5a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -137,4 +137,7 @@ dmypy.json
 # Cython debug symbols
 cython_debug/
 
-.idea
\ No newline at end of file
+.idea
+
+# VS Code
+.vscode/
\ No newline at end of file
diff --git a/.volkbay/Dockerfile b/.volkbay/Dockerfile
new file mode 100644
index 0000000..e76dd57
--- /dev/null
+++ b/.volkbay/Dockerfile
@@ -0,0 +1,52 @@
+# Author: @volkbay[2023]
+#
+## Example Usage ##
+##
+## Build image with:    `docker build -t eklt-vio .`
+## Run container with:  `docker run -it -v <host_dataset_dir>:<container_dataset_dir> eklt-vio`
+## Load environment:    `source ../devel/setup.bash`
+## Evaluate with:       `python3 x_evaluate/test/evaluate.py --configuration x_evaluate/test/evaluate.yaml ...
+##                      --output_folder <container_dataset_dir>/<dataset>/output ...
+##                      --dataset_dir <container_dataset_dir> --frontend XVIO --name "XVIO"`
+##
+## 
+FROM osrf/ros:noetic-desktop-full
+
+RUN apt-get update
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    git python3-vcstool python3-catkin-tools libtool nano \
+    python3-pip
+
+# Install Eigen3 v3.4 (required by Haste Lib used in X Lib, this version cannot be found in apt repo for Ubuntu 20.04)
+WORKDIR /home
+RUN     git clone https://gitlab.com/libeigen/eigen.git && \
+        mkdir -p /home/eigen/build    
+WORKDIR /home/eigen/build
+RUN     cmake ../ -DCMAKE_INSTALL_PREFIX=/usr/local && \
+        make install
+
+# Init catkin environment
+ENV WORKSPACE /eklt_vio_ws
+RUN mkdir -p /${WORKSPACE}/src
+WORKDIR ${WORKSPACE}
+RUN catkin init &&\
+    catkin config --extend /opt/ros/noetic
+
+# Clone dependencies and modify CMake configurations
+WORKDIR ${WORKSPACE}/src
+
+#TODO: @volkbay: Change volkbay to jpl-x if PR accepted
+RUN git clone https://github.com/volkbay/x_evaluate.git && \
+    ## Following `sed` is required to clone git repos by HTTPS ...
+    ## without global git configurations.
+    sed -i 's+git@github.com:+https://github.com/+g' x_evaluate/dependencies.yaml && \ 
+    vcs-import < x_evaluate/dependencies.yaml
+    
+# Build Catkin packages
+RUN catkin build -j${nproc} x_evaluate
+
+RUN pip3 install -r x_evaluate/requirements.txt && \
+    pip3 install ./x_evaluate
+
+# Run container
+ENTRYPOINT [ "/bin/bash" ]
\ No newline at end of file
diff --git a/dependencies.yaml b/dependencies.yaml
index c612d2c..7d772a9 100644
--- a/dependencies.yaml
+++ b/dependencies.yaml
@@ -7,3 +7,27 @@ repositories:
     type: git
     url: git@github.com:ethz-asl/gflags_catkin.git
     version: master
+  catkin_simple:
+    type: git
+    url: git@github.com:catkin/catkin_simple
+    version: master
+  x_events:
+    type: git
+    url: git@github.com:volkbay/x_events #TODO: @volkbay: Change volkbay to jpl-x if PR accepted
+    version: events
+  glog_catkin:
+    type: git
+    url: git@github.com:ethz-asl/glog_catkin
+    version: master
+  easy_profiler_catkin:
+    type: git
+    url: git@github.com:florian-world/x_easy_profiler_catkin
+    version: master
+  ceres_catkin:
+    type: git
+    url: git@github.com:ethz-asl/ceres_catkin
+    version: master
+  eigen_catkin:
+    type: git
+    url: git@github.com:ethz-asl/eigen_catkin
+    version: master
\ No newline at end of file
diff --git a/src/x_evaluate/plots.py b/src/x_evaluate/plots.py
index e854ad8..1f0e290 100644
--- a/src/x_evaluate/plots.py
+++ b/src/x_evaluate/plots.py
@@ -448,7 +448,10 @@ def boxplot_compare(ax: plt.Axes, x_tick_labels, data, legend_labels, colors=Non
     ax.set_xticks(np.arange(n_xlabel))
     ax.set_xticklabels(x_tick_labels)
     ax.set_xlim(-.6, n_xlabel-.4)
-    ax.xaxis.grid(b=None)
+    try: # @volkbay: Matplotlib > 3.5 has changed attribute 'b' to 'visible' 
+        ax.xaxis.grid(b=None)
+    except ValueError:
+        ax.xaxis.grid(visible=None)
     if legend:
         # ax.legend(leg_handles, leg_labels, bbox_to_anchor=(
             # 1.05, 1), loc=2, borderaxespad=0.)