diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index da1270e..a285e97 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -9,7 +9,9 @@
 		"dockerfile": "../Dockerfile"
 	},
 	"runArgs": [
-		"--privileged" // for real-time access
+		"--privileged", // for real-time access
+		"--cap-add=sys_nice",
+		"--ulimit", "rtprio=99" // for real-time access
 	],
 	// Features to add to the dev container. More info: https://containers.dev/features.
 	// "features": {},
diff --git a/colcon_defaults.yaml b/colcon_defaults.yaml
index 72df3fd..a371b8c 100755
--- a/colcon_defaults.yaml
+++ b/colcon_defaults.yaml
@@ -1,6 +1,6 @@
 {
   "build":{
-    # "symlink-install": true,
+    "symlink-install": true,
     "cmake-args": [
       "-DCMAKE_BUILD_TYPE=RelWithDebInfo",
       "-DCMAKE_EXPORT_COMPILE_COMMANDS=True",
diff --git a/src/casestudy/src/casestudy_example.cpp b/src/casestudy/src/casestudy_example.cpp
index 257a448..ca9ac06 100644
--- a/src/casestudy/src/casestudy_example.cpp
+++ b/src/casestudy/src/casestudy_example.cpp
@@ -43,7 +43,12 @@ void run_one_executor(
                   << ": " << strerror(errno) << std::endl;
         std::cerr << "This operation requires root privileges. Please run the program with sufficient permissions." 
                   << std::endl;
+#ifndef WIN_DOCKER_IS_BROKEN
         exit(EXIT_FAILURE);
+#else
+        // Windows Docker workaround: just print the error and continue
+        std::cerr << "Continuing without setting scheduler, fuck Windows" << std::endl;
+#endif
     }
     
     // Set the process name to "ros_experiment" for easier identification during debugging or system monitoring.