diff --git a/.docker/run.bash b/.docker/run.bash
index 1825666..6cfab2a 100755
--- a/.docker/run.bash
+++ b/.docker/run.bash
@@ -75,6 +75,9 @@ GUI_ENVS=(
 # Synchronize timezone with host
 CUSTOM_VOLUMES+=("/etc/localtime:/etc/localtime:ro")
 
+# Pass USB devices to container
+USB_VOLUME+=("/dev/bus/usb:/dev/bus/usb")
+
 ## Additional environment variables
 # Synchronize ROS_DOMAIN_ID with host
 if [ -n "${ROS_DOMAIN_ID}" ]; then
@@ -111,6 +114,7 @@ DOCKER_RUN_CMD=(
     "${GPU_OPT}"
     "${GPU_ENVS[@]/#/"--env "}"
     "${CUSTOM_VOLUMES[@]/#/"--volume "}"
+    "${USB_VOLUME[@]/#/"--volume "}"
     "${CUSTOM_ENVS[@]/#/"--env "}"
     "${TAG}"
     "${CMD}"
diff --git a/Dockerfile b/Dockerfile
index 014f430..5260aa0 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -24,6 +24,12 @@ RUN apt-get update && \
 RUN apt-get update && \
     apt-get install -yq python3-pil.imagetk
 
+### Install AxiDraw
+RUN apt-get update && \
+    apt-get install -yq python3-pip && \
+    pip install --upgrade --upgrade-strategy eager packaging && \
+    pip install https://cdn.evilmadscientist.com/dl/ad/public/AxiDraw_API.zip --upgrade --upgrade-strategy eager
+
 ### Import and install dependencies, then build these dependencies (not ign_moveit2_examples yet)
 COPY ./drawing_robot_ros2.repos ${WS_SRC_DIR}/ign_moveit2_examples/drawing_robot_ros2.repos
 RUN vcs import --recursive --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/ign_moveit2_examples/drawing_robot_ros2.repos && \
diff --git a/src/axidraw_controller/test.py b/src/axidraw_controller/test.py
new file mode 100644
index 0000000..0db01e7
--- /dev/null
+++ b/src/axidraw_controller/test.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+from pyaxidraw import axidraw   # import module
+ad = axidraw.AxiDraw()          # Initialize class
+ad.interactive()                # Enter interactive context
+if not ad.connect():            # Open serial port to AxiDraw;
+    quit()                      #   Exit, if no connection.
+ad.options.units = 1            # set working units to cm.
+                                # Absolute moves follow:
+ad.moveto(1, 1)                 # Pen-up move to (1 inch, 1 inch)
+ad.lineto(2, 1)                 # Pen-down move, to (2 inch, 1 inch)
+ad.moveto(0, 0)                 # Pen-up move, back to origin.
+ad.disconnect()                 # Close serial port to AxiDraw