diff --git a/docker/Dockerfile.ros1 b/docker/Dockerfile.ros1
index 63bf6aa..26c8d5e 100644
--- a/docker/Dockerfile.ros1
+++ b/docker/Dockerfile.ros1
@@ -15,7 +15,7 @@
 
 ARG ROS_ARCHITECTURE_VERSION=latest
 
-FROM ronaldsonbellande/bellande_robotic_environment:latest
+FROM ronaldsonbellande/bellande_robotic_environment_ros1:latest
 SHELL [ "/bin/bash" , "-c" ]
 
 ENV DEBIAN_FRONTEND noninteractive
@@ -25,41 +25,31 @@ ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=main
 ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
 
 ENV ROS_VERSION=noetic
-ENV CATKIN_WS=/root/catkin_ws
+ENV CATKIN_WS=/opt/ros/overlay_ws
 
 LABEL maintainer=ronaldsonbellande@gmail.com
 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}
 
-# Create local catkin workspace
+# Create local catkin workspace and # copy every package
 RUN mkdir -p $CATKIN_WS/src
-
-# Copy Every Package
-COPY ../ ${CATKIN_WS}/src
-
-# Set the working directory for Catkin
+COPY ../ ${CATKIN_WS}/src 
 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"
+# Set the working directory for catkin
 
 # Initialize catkin workspace
-RUN catkin init \ 
+RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash" \
+  && catkin init \
   && catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0
 
 # Initialize local catkin workspace, install dependencies and build workpsace
-RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
-RUN source ~/.bashrc
+RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc \
+  && source ~/.bashrc
 
 RUN cd $CATKIN_WS \
-  && rosdep init \
   && rosdep update \
-  && rosdep update --rosdistro ${ROS_VERSION} \
   && rosdep fix-permissions \
   && rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_VERSION}
 
@@ -68,6 +58,6 @@ COPY ../scripts/catkin_setup.sh /usr/local/bin/catkin_setup.sh
 RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
 RUN chmod +x /usr/local/bin/catkin_setup.sh
 
+# Run the packages and source
 RUN /usr/local/bin/catkin_setup.sh
-
 CMD ["/bin/bash"]
diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2
index b9d25d4..7e13714 100644
--- a/docker/Dockerfile.ros2
+++ b/docker/Dockerfile.ros2
@@ -15,7 +15,7 @@
 
 ARG ROS_ARCHITECTURE_VERSION=latest
 
-FROM ubuntu:20.04 as base_build
+FROM ronaldsonbellande/bellande_robotic_environment_ros1:latest
 SHELL [ "/bin/bash" , "-c" ]
 
 ENV DEBIAN_FRONTEND noninteractive
@@ -24,66 +24,32 @@ ENV PYTHON_VERSION="3.8"
 ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=main
 ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
 
-ARG ROS_VERSION=foxy
-ENV CATKIN_WS=/root/catkin_ws
+ENV ROS_VERSION=foxy
+ENV CATKIN_WS=/opt/ros/overlay_ws
 
 LABEL maintainer=ronaldsonbellande@gmail.com
 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 /
-
-# Copy all files from the parent directory to the Docker image root
-COPY ../ ./
-
-# 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 <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.txt
-
-# Install dependencies for ros system 
-RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
-  && rm -rf /var/lib/apt/lists/*
-
-# Create local catkin workspace
+# Create local catkin workspace and # copy every package
 RUN mkdir -p $CATKIN_WS/src
-WORKDIR $CATKIN_WS/src
+COPY ../ ${CATKIN_WS}/src 
+WORKDIR $CATKIN_WS
+
+# Set the working directory for catkin
+
+# Initialize catkin workspace
+RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash" \
+  && catkin init \
+  && catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0
 
 # Initialize local catkin workspace, install dependencies and build workpsace
-RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
-RUN source ~/.bashrc
+RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc \
+  && source ~/.bashrc
 
 RUN cd $CATKIN_WS \
-  && rosdep init \
   && rosdep update \
-  && rosdep update --rosdistro ${ROS_VERSION} \
   && rosdep fix-permissions \
   && rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_VERSION}
 
@@ -92,5 +58,6 @@ COPY ../scripts/colcon_setup.sh /usr/local/bin/colcon_setup.sh
 RUN echo "source /usr/local/bin/colcon_setup.sh" >> /root/.bashrc
 RUN chmod +x /usr/local/bin/colcon_setup.sh
 
-ENTRYPOINT ["/usr/local/bin/colcon_setup.sh"]
-CMD ["bash"]
+# Run the packages and source
+RUN /usr/local/bin/colcon_setup.sh
+CMD ["/bin/bash"]
diff --git a/scripts/catkin_setup.sh b/scripts/catkin_setup.sh
index ec9e444..ff14f27 100755
--- a/scripts/catkin_setup.sh
+++ b/scripts/catkin_setup.sh
@@ -19,4 +19,4 @@
 catkin build
 
 # Source workspace setup file
-source devel/setup.bash
+source /opt/ros/overlay_ws/devel/setup.bash