diff --git a/README.md b/README.md
index 951e580..be915d4 100644
--- a/README.md
+++ b/README.md
@@ -28,24 +28,42 @@ doxygen docs/Doxifile
 To open the documentation double click on the file build/html/index.html.
 
 # Installation
-## Pull or build docker image
-You can either pull the docker image `ghcr.io/iit-dlslab/dls2-dev:latest` or you can build it from scratch.
-### Pulling
+## Pull the docker image
+You can pull the docker image with the following command:
 
-```docker pull ghcr.io/iit-dlslab/dls2-dev:latest```
-
-### Building - TODO
+```bash
+docker pull ghcr.io/iit-dlslab/dls2-dev:latest
+```
 
 ## Clone repository
 ```bash
-git clone --recursive https://github.com/iit-DLSLab/dls2-barebone.git
-cd dls2-barebone
+mkdir dls_ws
+cd dls_ws
+git clone --init --recursive https://github.com/iit-DLSLab/dls2-barebone.git
 ```
-## Open docker image - TODO
+## Open docker image
 ```bash
-docker run
-cd dls2-barebone
+docker run -it --rm \
+  --name dls_container \
+  --hostname docker \
+  --gpus all \
+  --privileged \
+  --network host \
+  -e DISPLAY="$DISPLAY" \
+  -e DLS=2 \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+  -v "$PWD:$PWD" \
+  -w "$PWD" \
+  ghcr.io/iit-dlslab/dls2-dev:latest \
+  /bin/bash
 ```
+
+## Attach to running container
+
+```bash
+docker exec -it dls_container /bin/bash
+```
+
 ## Build
 ```bash
 mkdir build && cd build
@@ -55,11 +73,34 @@ sudo make install
 ```
 The first compilation takes a bit of time because it needs to compile all the messages (the ROS2 default ones and the DLS2 ones).
 
-# Run example - TODO
-To run an example, you can have a look at this repo, where a ready-to-use framework is provided for quadruped locomotion.
+# Run example
+To run a simple node example follow these steps:
+
+* open a shell, run the container and build the code as explained in the "Open docker image" and "Build" sections above.
+```bash
+dls --servers --super
+```
+* open a second terminal, launch the console:
+```bash
+docker exec -it dls_container /bin/bash
+```
+```bash
+dls -lconsole
+```
+load the `hello_world_plugin`
+```bash
+Supervisor::loadPeriodicAppPlugin hello_world_plugin
+```
+and activate the plugin typing: 
+```bash
+hello_world_plugin::activate
+```
 
 # Contributing
 Feel free to open issues and/or PRs!
 
+# TODOs:
+* Integrated and ready-to-go examples with state estimator ([MUSE](https://github.com/iit-DLSLab/muse)) coming soon
+
 # Mantainers
 This repository is mantained by [Marco Marchitto](https://github.com/MMarcus95) and [Michele Pestarino](https://github.com/mich-pest).
\ No newline at end of file
diff --git a/build.bash b/build.bash
deleted file mode 100755
index de09b0e..0000000
--- a/build.bash
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-cd build
-make -j14
-cd ..
diff --git a/clean_build.bash b/clean_build.bash
deleted file mode 100755
index d11c9c7..0000000
--- a/clean_build.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-clear
-sudo rm -r ./build/*
-cd build
-cmake ..
-make -j14
-cd ..
diff --git a/dls2 b/dls2
index f761a76..cc2f173 160000
--- a/dls2
+++ b/dls2
@@ -1 +1 @@
-Subproject commit f761a7698fcb1da3e71fa37f3c98eeb704b338b2
+Subproject commit cc2f173aeb502a3d02416f8ddcb40fa765198bb8
diff --git a/visualizers/rviz_interface/CMakeLists.txt b/visualizers/rviz_interface/CMakeLists.txt
index 36cee33..ff36ab7 100644
--- a/visualizers/rviz_interface/CMakeLists.txt
+++ b/visualizers/rviz_interface/CMakeLists.txt
@@ -6,7 +6,10 @@ add_compile_options("-std=c++2a")
 
 find_package(fastcdr 2 REQUIRED)
 find_package(fastdds 3 REQUIRED)
-find_package(dls_messages REQUIRED)
+if (NOT TARGET dls_messages)
+	find_package(dls_messages REQUIRED)
+endif()
+
 
 if(DEFINED DLS_MESSAGE_FOLDER)
 	list(APPEND CMAKE_MODULE_PATH "${DLS_MESSAGE_FOLDER}/cmake")