diff --git a/docker/Dockerfile.ros1 b/docker/Dockerfile.ros1
index 5eff7b0..63bf6aa 100644
--- a/docker/Dockerfile.ros1
+++ b/docker/Dockerfile.ros1
@@ -32,47 +32,6 @@ LABEL author=ronaldsonbellande@gmail.com
 LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
 LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
 
-# Ubuntu setup
-RUN apt-get update -y
-RUN apt-get upgrade -y
-
-# Set the working directory inside the Docker image
-WORKDIR /
-
-# Create a directory for the requirements
-RUN mkdir -p /requirements
-
-# Copy specific files from the requirements directory to the "requirements" directory in the Docker image
-COPY ../requirements/requirements.txt /requirements/requirements.txt
-COPY ../requirements/system_requirements.txt /requirements/system_requirements.txt
-COPY ../requirements/ros_requirements.txt /requirements/ros_requirements.txt
-COPY ../requirements/ros_repository_requirements.txt /requirements/ros_repository_requirements.txt
-
-# Install dependencies for system
-RUN apt-get update && apt-get install -y --no-install-recommends <requirements/system_requirements.txt\
-  && apt-get upgrade -y \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-# Install python 3.8 and make primary 
-RUN apt-get update && apt-get install -y \
-  python3.8 python3.8-dev python3-pip python3.8-venv \
-  && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
-
-# Pip install update 
-RUN pip3 install --upgrade pip
-
-# Install python libraries
-RUN pip --no-cache-dir install -r requirements/requirements.txt
-
-# Install dependencies for ros system 
-RUN apt-get update \
-  && apt-get install -y --no-install-recommends <requirements/ros_requirements.txt \
-  && rm -rf /var/lib/apt/lists/*
-
-# Add /usr/bin to the PATH
-ENV PATH="/usr/bin:${PATH}"
-
 # Create local catkin workspace
 RUN mkdir -p $CATKIN_WS/src
 
@@ -82,10 +41,20 @@ COPY ../ ${CATKIN_WS}/src
 # Set the working directory for Catkin
 WORKDIR $CATKIN_WS
 
+RUN export ROS_INSTALL_PATH=$(find / -name setup.bash -print)
+RUN ROS_VERSION=$(rosversion -d)
+
+# Print ROS installation path and version
+RUN echo "ROS installed in: $ROS_INSTALL_PATH"
+RUN echo "ROS version: $ROS_VERSION"
+
+# Initialize catkin workspace
+RUN catkin init \ 
+  && catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0
+
 # Initialize local catkin workspace, install dependencies and build workpsace
 RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
 RUN source ~/.bashrc
-RUN catkin config  --extend "/opt/ros/"${ROS_VERSION}"
 
 RUN cd $CATKIN_WS \
   && rosdep init \
diff --git a/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py b/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
index d6e8a89..be7af43 100644
--- a/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
+++ b/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
@@ -1,13 +1,17 @@
 import os
 import sys
 import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 
 def ros1_launch_description():
     # Get command-line arguments
     args = sys.argv[1:]
 
-    # Construct the ROS 1 launch command
+    # Construct the ROS 1 launch commandi
     roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
 
     # Execute the launch command
diff --git a/ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch b/ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch
index 1bc2afe..15edced 100644
--- a/ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch
+++ b/ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch
@@ -1,16 +1,32 @@
 <?xml version="1.0"?>
-<launch>
-    <arg name="x1"/>
-    <arg name="y1"/>
-    <arg name="x2"/>
-    <arg name="y2"/>
-    <arg name="limit"/>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
 
-    <node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py" name="bellande_step_api_2d_node" output="screen">
-        <param name="x1" value="$(arg x1)"/>
-        <param name="y1" value="$(arg y1)"/>
-        <param name="x2" value="$(arg x2)"/>
-        <param name="y2" value="$(arg y2)"/>
-        <param name="limit" value="$(arg limit)"/>
-    </node>
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+<launch>
+  <arg name="x1" />
+  <arg name="y1" />
+  <arg name="x2" />
+  <arg name="y2" />
+  <arg name="limit" />
+
+  <node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
+    name="bellande_step_api_2d_node" output="screen">
+    <param name="x1" value="$(arg x1)" />
+    <param name="y1" value="$(arg y1)" />
+    <param name="x2" value="$(arg x2)" />
+    <param name="y2" value="$(arg y2)" />
+    <param name="limit" value="$(arg limit)" />
+  </node>
 </launch>