diff --git a/Dockerfile b/Dockerfile
index 92fd7f3..e379c1f 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -14,6 +14,8 @@ RUN /packaging/build_colcon_sdk.sh ${TARGETARCH:-amd64}
 # Even though it is possible to tar the install directory for retrieving it later in runtime image,
 # the tar extraction in arm64 emulated on arm64 is still slow. So, we copy the install directory instead
 
+FROM ghcr.io/tiiuae/pkcs11-closer:sha-7bec028 AS closer
+
 FROM ghcr.io/tiiuae/fog-ros-baseimage:v3.2.0
 
 HEALTHCHECK --interval=5s \
@@ -29,4 +31,5 @@ COPY entrypoint.sh /entrypoint.sh
 # See: https://github.com/tiiuae/fog-ros-baseimage/blob/main/Dockerfile
 WORKDIR $WORKSPACE_DIR
 
+COPY --from=closer /pkcs11-closer /
 COPY --from=builder $WORKSPACE_DIR/install install
diff --git a/entrypoint.sh b/entrypoint.sh
index d187dfd..6c0c5b3 100755
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -37,6 +37,8 @@ trap - TERM
 wait $child
 RESULT=$?
 
+/pkcs11-closer --label mocap-pose
+
 if [ $RESULT -ne 0 ]; then
     echo "ERROR: Mocap pose node failed with code $RESULT" >&2
     exit $RESULT