diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..eb32425
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,30 @@
+FROM gramaziokohler/ros-noetic-base:latest
+
+LABEL maintainer "Anton Tetov <anton@tetov.se>"
+
+# Create local catkin workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS
+
+# copy repo to src
+COPY . ./src/biodigitalmatter_ros
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep update
+
+RUN apt-get install python3-vcstool python3-catkin-tools -y
+
+RUN vcs import src < src/biodigitalmatter_ros/dependencies.repos \
+    && vcs import src < src/abb_robot_driver/pkgs.repos
+
+RUN rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
+
+RUN /opt/ros/${ROS_DISTRO}/bin/catkin_make
+
+RUN echo "source /usr/local/bin/ros_catkin_entrypoint.sh" >> /root/.bashrc
+RUN echo 'source $CATKIN_WS/src/biodigitalmatter_ros/bashrc_fragment' >> /root/.bashrc
+
+ENTRYPOINT ["roslaunch" "biodigitalmatter_ros" "bringup.lauch"]
+CMD ["bash"]
\ No newline at end of file
diff --git a/README.md b/README.md
index 110308c..0b0b959 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,7 @@
 ROS Noetic installation on Ubuntu 20.04 assumed.
 
 ```sh
+grep -qxF 'source ~/catkin_ws/src/biodigitalmatter_ros/bashrc_fragment.sh' ~/.bashrc || echo 'source ~/catkin_ws/src/biodigitalmatter_ros/bashrc_fragment.sh' >> ~/.bashrc
 sudo apt install python3-vcstool python3-catkin-tools
 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src
@@ -16,3 +17,5 @@ rosdep update
 rosdep install --from-paths src --ignore-src -y
 catkin build
 ```
+
+Create an .env file based on .env.example adding the passwords needed.
\ No newline at end of file
diff --git a/bashrc_fragment.sh b/bashrc_fragment.sh
new file mode 100644
index 0000000..d423cab
--- /dev/null
+++ b/bashrc_fragment.sh
@@ -0,0 +1,15 @@
+source /opt/ros/noetic/setup.bash
+
+export CATKIN_WS=~/catkin_ws
+
+if [ -f $CATKIN_WS/devel/setup.bash ] ; then 
+  source $CATKIN_WS/devel/setup.bash
+fi
+
+if [ -f $CATKIN_WS/src/biodigitalmatter_ros/.env ] ; then 
+  set -a # automatically export all vars
+  source $CATKIN_WS/src/biodigitalmatter_ros/.env
+  set +a
+fi
+
+mkdir -p ~/rosbags
\ No newline at end of file
diff --git a/dependencies.repos b/dependencies.repos
index 6c57968..f20985d 100644
--- a/dependencies.repos
+++ b/dependencies.repos
@@ -13,19 +13,23 @@ repositories:
     type: git
     url: https://github.com/compas-rrc/compas_rrc_ros.git
     version: v1.1.3
-  file_server:
+  ros_file_server:
     type: git
     url: https://github.com/gramaziokohler/ros_file_server.git
     version: master
   abb:
     type: git
-    url: https://github.com/ros-industrial/abb/
+    url: https://github.com/ros-industrial/abb.git
     version: kinetic-devel
   axis_camera:  # need newer than what's in rosdep
     type: git
-    url: https://github.com/ros-drivers/axis_camera
+    url: https://github.com/ros-drivers/axis_camera.git
     version: noetic-devel
   camera_info_manager_py: # upstream has no noetic release, axis dep
     type: git
-    url: https://github.com/lucasw/camera_info_manager_py
+    url: https://github.com/lucasw/camera_info_manager_py.git
     version: noetic-devel
+  abb_robot_driver:
+    type: git
+    url: https://github.com/ros-industrial/abb_robot_driver.git
+    version: master
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 2df201a..ce8cf4d 100644
--- a/package.xml
+++ b/package.xml
@@ -18,7 +18,7 @@
   <exec_depend>compas_rrc_driver</exec_depend>
   <exec_depend>abb_irb4600_40_255_moveit_config</exec_depend>
   <exec_depend>file_server</exec_depend>
-  <exec_depend>depthai</exec_depend> <!-- luxonis -->
+  <exec_depend>depthai-ros</exec_depend> <!-- luxonis -->
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>rgbd_launch</exec_depend> <!-- dep realsense2 -->
   <exec_depend>axis_camera</exec_depend>