diff --git a/ros_web_api_bellande_step/CMakeLists.txt b/ros_web_api_bellande_step/CMakeLists.txt
index 3dc542f..dc8e20c 100644
--- a/ros_web_api_bellande_step/CMakeLists.txt
+++ b/ros_web_api_bellande_step/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 3.8)
 project(ros_web_api_bellande_step)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
 # Find ROS
 if($ENV{ROS_VERSION} EQUAL 1)
   find_package(catkin REQUIRED COMPONENTS
diff --git a/ros_web_api_bellande_step/launch/__pycache__/bellande_step_api_2d_launch.cpython-38.pyc b/ros_web_api_bellande_step/launch/__pycache__/bellande_step_api_2d_launch.cpython-38.pyc
new file mode 100644
index 0000000..ef81512
Binary files /dev/null and b/ros_web_api_bellande_step/launch/__pycache__/bellande_step_api_2d_launch.cpython-38.pyc differ
diff --git a/ros_web_api_bellande_step/script/build.sh b/ros_web_api_bellande_step/script/build.sh
index e69de29..78e4cf0 100644
--- a/ros_web_api_bellande_step/script/build.sh
+++ b/ros_web_api_bellande_step/script/build.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+# Create and navigate to build directory
+mkdir -p build && cd build
+
+# Build package
+if [ $ROS_VERSION -eq 1 ]; then
+    cmake -DROS_VERSION=1 ..
+    make -j$(nproc)
+else
+    cmake -DROS_VERSION=2 ..
+    make -j$(nproc)
+fi
+
+# Source package setup file
+source devel/setup.bash
+
+# Run rosdep
+rosdep install --from-paths ../src --ignore-src -y
+
+# Return to package root directory
+cd ..
+
+# Run ROS launch file
+if [ $ROS_VERSION -eq 1 ]; then
+    roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
+else
+    ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
+fi
diff --git a/ros_web_api_bellande_step/src/bellande_step_api_2d.py b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
index d837d4a..a133866 100644
--- a/ros_web_api_bellande_step/src/bellande_step_api_2d.py
+++ b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
@@ -1,10 +1,11 @@
 import json
 import os
 import requests
+import sys
 
 def main():
     # Read configuration from config.json
-    with open('config.json', 'r') as config_file:
+    with open(os.path.join(sys.path[0], 'config.json'), 'r') as config_file:
         config = json.load(config_file)
         url = config['url']
         endpoint_path = config['endpoint_path']