diff --git a/README.md b/README.md
index be915d4..aca8819 100644
--- a/README.md
+++ b/README.md
@@ -57,8 +57,7 @@ docker run -it --rm \
   ghcr.io/iit-dlslab/dls2-dev:latest \
   /bin/bash
 ```
-
-## Attach to running container
+Remember that to attach another terminal to the already running container you can do
 
 ```bash
 docker exec -it dls_container /bin/bash
@@ -66,6 +65,7 @@ docker exec -it dls_container /bin/bash
 
 ## Build
 ```bash
+cd dls2-barebone
 mkdir build && cd build
 cmake ..
 make
@@ -77,24 +77,33 @@ The first compilation takes a bit of time because it needs to compile all the me
 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
-```
+* Run the fastdds servers and the supervisor
+
+  ```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
-```
+  ```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
+  ```
+
+  You will see a dummy print in the terminal where you have launched the Supervisor.
+* unload the `hello_world_plugin`
+  ```bash
+  Supervisor::unloadPeriodicAppPlugin hello_world_plugin
+  ```
+* stop DLS2 with `CTRL-C` in any of the terminal
 
 # Contributing
 Feel free to open issues and/or PRs!
diff --git a/dls2 b/dls2
index cc2f173..5b873e4 160000
--- a/dls2
+++ b/dls2
@@ -1 +1 @@
-Subproject commit cc2f173aeb502a3d02416f8ddcb40fa765198bb8
+Subproject commit 5b873e4bd70015147bd103db0b4858b72ee3a908
diff --git a/dls2_msgs b/dls2_msgs
index 4ce99df..a7adbf8 160000
--- a/dls2_msgs
+++ b/dls2_msgs
@@ -1 +1 @@
-Subproject commit 4ce99df5c257748bcd1f0af515a77727dd1d2a25
+Subproject commit a7adbf8b5db41c484d6189b058a843f5bc7e36f6
diff --git a/docs/index.md b/docs/index.md
index e9aa2a2..cdd5ac7 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -6,7 +6,8 @@ In modern robotic systems, scalable, flexible, and robust software architectures
 - @subpage md_docs_2CurrentStageOfDevelopment "Current stage of development"
 - @subpage md_docs_2GettingStarted "Getting started"
 - @subpage md_dls2_2doc_2index "DLS2 framework"
+- @subpage md_dls2__msgs_2README "DLS2 messages"
 - @subpage md_robotlib_2README "Robotlib"
-- @subpage md_gluecode_2README "GlueCode"
+- @subpage md_pinocchio-gluecode_2README "GlueCode"
 - @subpage md_visualizers_2README "Visualizers"
 - @subpage md_dls2__ros2__interface_2README "ROS 2 interface"
diff --git a/pinocchio-gluecode b/pinocchio-gluecode
index 8c112f9..c2ed6f9 160000
--- a/pinocchio-gluecode
+++ b/pinocchio-gluecode
@@ -1 +1 @@
-Subproject commit 8c112f91b0b195502d6409dde15c273ecfce3d55
+Subproject commit c2ed6f98258dfccad57a62b0a851b62291f94604
diff --git a/robotlib b/robotlib
index 18498d3..469ea0d 160000
--- a/robotlib
+++ b/robotlib
@@ -1 +1 @@
-Subproject commit 18498d30e3eb926d8d74de92db6ccdc807c60349
+Subproject commit 469ea0dd99bea89e7cfc1b70bef98c35cbacaa4a