diff --git a/README.md b/README.md
index 0bedda3b..aafb4726 100644
--- a/README.md
+++ b/README.md
@@ -35,7 +35,7 @@ Full documentation available [here](https://lbr-fri-ros2-stack-doc.readthedocs.i
     ```shell
     mkdir -p lbr-stack/src && cd lbr-stack
     vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
-    rosdep install --from-paths src --ignore-src -r -y
+    rosdep install --from-paths src -i -r -y
     ```
 
 3. Build
@@ -56,6 +56,9 @@ Full documentation available [here](https://lbr-fri-ros2-stack-doc.readthedocs.i
         moveit:=true # [true, false]
     ```
 
+> [!TIP]
+> List all arguments for the launch file via `ros2 launch lbr_bringup bringup.launch.py -s`
+
 Now, run the [demos](https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Documentation](https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/index.html) above.
 
 ## Citation
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 00000000..d8bed9c5
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,24 @@
+FROM ros:humble-ros-base-jammy
+
+# change default shell to bash
+SHELL ["/bin/bash", "-c"]
+
+ARG FRI_CLIENT_VERSION=1.15
+
+RUN apt update -y 
+
+# create workspace
+RUN mkdir -p home/ros2_ws/src
+WORKDIR /home/ros2_ws/
+
+COPY ./src /home/ros2_ws/src
+RUN rosdep install -i --from-paths src --rosdistro ${ROS_DISTRO} -y 
+
+# "--symlink-install" allows the code in the locally mounted volume ./src to be adjusted without rebuilding
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install --cmake-args -DFRI_CLIENT_VERSION=${FRI_CLIENT_VERSION} --no-warn-unused-cli
+
+# source the workspace
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+RUN source /home/ros2_ws/install/local_setup.bash && echo "source /home/ros2_ws/install/local_setup.bash" >> ~/.bashrc
+CMD ["/bin/bash"]
diff --git a/docker/container_build.sh b/docker/container_build.sh
new file mode 100755
index 00000000..edf2ed21
--- /dev/null
+++ b/docker/container_build.sh
@@ -0,0 +1,18 @@
+# dont forget to chmod +x container_build.sh 
+xhost + 
+
+docker rm lbr_stack_container
+
+docker build --build-arg FRI_CLIENT_VERSION=$1 -t lbr_stack_container .
+
+docker run -it \
+	--network host \
+	--ipc host \
+	--volume ./src:/home/ros2_ws/src \
+	--volume /tmp/.X11-unix:/tmp/.X11-unix \
+	--volume /dev/shm:/dev/shm \
+	--volume /dev:/dev --privileged \
+	--env DISPLAY \
+	--env QT_X11_NO_MITSHM=1 \
+	--name lbr_stack_container \
+	lbr_stack_container
diff --git a/docker/container_new_console.sh b/docker/container_new_console.sh
new file mode 100755
index 00000000..f3e79746
--- /dev/null
+++ b/docker/container_new_console.sh
@@ -0,0 +1,2 @@
+# dont forget to chmod +x container_new_console.sh 
+docker exec -it lbr_stack_container bash
diff --git a/docker/container_start.sh b/docker/container_start.sh
new file mode 100755
index 00000000..ec82fec0
--- /dev/null
+++ b/docker/container_start.sh
@@ -0,0 +1,4 @@
+# dont forget to chmod +x container_new_console.sh 
+xhost + 
+
+docker start lbr_stack_container -i
diff --git a/docker/doc/docker.rst b/docker/doc/docker.rst
new file mode 100644
index 00000000..a676a216
--- /dev/null
+++ b/docker/doc/docker.rst
@@ -0,0 +1,38 @@
+Docker
+======
+To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions below.
+
+#. Install ROS 2 development tools
+
+.. code-block:: bash
+
+    sudo apt install ros-dev-tools
+
+#. Create a workspace and clone
+
+.. code-block:: bash
+
+    mkdir -p lbr-stack/src && cd lbr-stack
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
+
+#. Copy the Dockerfile and the container scripts to the ``lbr-stack`` directory. Build and start the container
+
+.. code-block:: bash
+
+    cp -r src/lbr_fri_ros2_stack/docker/* .
+    chmod +x container_build.sh
+    sudo ./container_build.sh 1.15 # replace by your FRI client version
+
+#. Inside the container, launch e.g. simulation via (might require re-launch after Gazebo launched first time)
+
+.. code-block:: bash
+
+    ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 sim:=true moveit:=true
+
+.. note::
+
+    List all arguments for the launch file via
+
+    .. code-block:: bash
+
+        ros2 launch lbr_bringup bringup.launch.py -s