diff --git a/README.md b/README.md
index 7061fd268d08b8d2966cf3aae65e977510dccc5e..919ddef2b55e73238fc9e795e38d0ebd8ed85114 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,148 @@
-# Development Environment
-Scripts and setups my devel setup
+# ROS development environment
+
+A set of configuration files to generate docker images for development in ROS. The aim of this project is to provide a development environment that can be used in any ROS distribution, sharing your home directory with the container.
+
+
+## Installation
+
+To use these configuration files some prerequisites must be met.
+
+```bash
+git clone git@git.code.tecnalia.com:andres.montano/development_environment.git
+```
+
+### Rocker
+
+[**rocker**](https://github.com/osrf/rocker) is a tool to run docker images with customized local support injected for things like nvidia video cards support.
+
+#### rocker installation
+
+```bash
+sudo apt-get install python3-rocker
+```
+
+#### OYR (off-your-rocker) pluging for rocker
+
+[**OYR**](https://github.com/sloretz/off-your-rocker) is a plugin for rocker that allows to run docker images with extra parameteers and configurations.
+In this project OYR is used to launch a docker container with a named volume, not supported by rocker.
+
+```bash
+pip3 install git+https://github.com/sloretz/off-your-rocker.git
+```
+
+## Usage/Examples
+
+### Before generate a docker image
+
+The dockerfile allows the installation of package dependencies for the workspace these could be ROS packages or python packages, installed with apt-get or pip. Packages are defined in a requirements.txt file at ws_dependencies folder, the file name is defined by the ROS_DISTRO (e.g. ./ws_dependencies/melodic_requirements.txt).
+
+Requirements.txt file example:
+
+```bash
+# APT-GET PACKAGES
+# Base
+python3-catkin-tools
+ipython3
+python-is-python3
+python3-click
+python3-numpy
+python3-osrf-pycommon
+python3-vcstool
+python3-pip
+clangd
+liblldb-dev
+libllvm-ocaml-dev
+# Neurondones
+ros-noetic-libpcan
+ros-noetic-moveit-ros-move-group
+ros-noetic-moveit-fake-controller-manager
+ros-noetic-moveit-kinematics
+ros-noetic-moveit-planners-ompl
+ros-noetic-moveit-ros-visualization
+ros-noetic-moveit-setup-assistant
+ros-noetic-ros-control
+ros-noetic-ros-controllers
+# PIP PACKAGES
+pyk4a
+# EOF
+```
+
+**TIP** To obtain the dependencies list for you workspace you can use the command `rosdep check --from-paths src --ignore-src`
+
+If some extra libs are needed, they can be added in extra_libs folder, where a common_libs.txt file is located jointly with ROS_DISTRO_libs.txt files. These libs are packages downloaded and installed in the docker image during the build process. Therefore, files containing urls with links to the sources of the libs.
+
+Example of common_libs.txt file:
+
+```bash
+# List with links to additional libraries to install in devenv image
+# bat-musl
+https://github.com/sharkdp/bat/releases/download/v0.24.0/bat-musl_0.24.0_amd64.deb
+# lsd-musl
+https://github.com/lsd-rs/lsd/releases/download/v1.0.0/lsd-musl_1.0.0_amd64.deb
+# ripgrep
+https://github.com/BurntSushi/ripgrep/releases/download/14.1.0/ripgrep_14.1.0-1_amd64.deb
+```
+
+### TECNALIA login info
+
+An auth.conf file with TECNALIA login info is required to add access to the Tecnalia's artifactory repository.
+
+```bash
+machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
+login USER@tecnalia.com
+password AVERYLONGPASSWORDGENERATEDBYTOKENINARTIFACTORY
+```
+
+### dotfiles
+
+#### docker.sh
+
+dotfile with useful commands to simplify the docker use.
+
+Useful commands:
+
+```bash
+Usage: dockbuild <ROS_DISTRO> [build_args]
+ROS_DISTRO: Ros distribution. e.g. melodic, noetic, humble, etc.
+build_args:
+ --shell: shell to use in the container. e.g. bash or zsh
+ Without build_args, default shell: zsh
+```
+
+```bash
+Usage: dockrun <ROS_DISTRO> [options]
+ROS_DISTRO:
+ melodic, noetic, humble, etc.
+Options:
+ --ws: path to workspace. e.g. odin_ws
+ --share: resource to share with the container, e.g. video, pcan or dev
+ --shell: shell to use in the container. By default zsh
+ --parse: parse_args to use in the container, e.g. --oyr-spacenav.
+ By default none
+Examples:
+dockrun humble --ws mairon_ws
+dockrun noetic --ws neurondones_ws --share pcan
+dockrun melodic --ws odinrobot_ws --share video --shell bash
+```
+
+```bash
+Usage: dockexec <ROS_DISTRO> [options]
+ROS_DISTRO: Ros distribution. e.g. melodic, noetic, humble, etc.
+options:
+ --ws: path to workspace. e.g. odin_ws
+ --shell: shell to use in the container. e.g. bash or zsh
+Example:
+dockexec noetic --ws neurondones_ws --shell bash
+```
+
+
+## Authors
+
+- [@andres.montano](https://git.code.tecnalia.com/andres.montano)
+
+
+## Feedback
+
+If you have any feedback or suggestions about this project, please reach out to me by teams at or open an [issue](https://git.code.tecnalia.com/andres.montano/development_environment/-/issues) at the project repository.
+
diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
index 6c119532cdf8557dc5769a4d8c68eeaaaa3bf43d..61c5ba67d205bce363eccff99b7147513c178b24 100644
--- a/dockerfiles/devenv.Dockerfile
+++ b/dockerfiles/devenv.Dockerfile
@@ -61,13 +61,13 @@ RUN apt-get install -y \
&& pip3 install sqlite_utils \
&& pip3 install transforms3d
-# RUN if [ "$ROS_DISTRO" = "noetic" ]; \
-# then \
-# pip3 install conan==1.59 \
-# && conan config set general.revisions_enabled=1 \
-# && conan profile new default --detect > /dev/null \
-# && conan profile update settings.compiler=gcc default; \
-# fi
+RUN if [ "$ROS_DISTRO" = "noetic" ]; \
+ then \
+ pip3 install conan==1.59 \
+ && conan config set general.revisions_enabled=1 \
+ && conan profile new default --detect > /dev/null \
+ && conan profile update settings.compiler=gcc default; \
+ fi
# Install zsh if requested
RUN if [ "$EXT_SHELL" = "zsh" ]; \
@@ -128,15 +128,15 @@ RUN if [ -f "common_libs.txt" ]; \
fi
# Workaround for Azure Kinect
-# RUN if [ "$ROS_DISTRO" = "noetic" ]; \
-# then \
-# echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections \
-# && echo 'libk4abt1.0 libk4abt1.0/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections \
-# && wget https://raw.githubusercontent.com/microsoft/Azure-Kinect-Sensor-SDK/develop/scripts/99-k4a.rules \
-# && mkdir -p udev/rules.d \
-# && mv 99-k4a.rules udev/rules.d/ \
-# && cp --parents udev/rules.d/99-k4a.rules /etc; \
-# fi
+RUN if [ "$ROS_DISTRO" = "noetic" ]; \
+ then \
+ echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections \
+ && echo 'libk4abt1.0 libk4abt1.0/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections \
+ && wget https://raw.githubusercontent.com/microsoft/Azure-Kinect-Sensor-SDK/develop/scripts/99-k4a.rules \
+ && mkdir -p udev/rules.d \
+ && mv 99-k4a.rules udev/rules.d/ \
+ && cp --parents udev/rules.d/99-k4a.rules /etc; \
+ fi
# Extra libs, e.g. vtk-7.1_20221201-1_amd64.deb
RUN if [ -f "${ROS_DISTRO}_libs.txt" ]; \