diff --git a/scripts/_RosTeamWs_Defines.bash b/scripts/_RosTeamWs_Defines.bash
index e5d9a6f4..c7fb648e 100755
--- a/scripts/_RosTeamWs_Defines.bash
+++ b/scripts/_RosTeamWs_Defines.bash
@@ -1,4 +1,5 @@
-# Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -30,6 +31,14 @@ if [ -z "$rtw_supported_ros_distributions" ]; then
   readonly rtw_supported_ros_distributions=("noetic" "foxy" "galactic" "humble" "iron" "rolling")
 fi
 
+# Mapping of ubuntu version and supported ros distributions
+if [ -z "$ubuntu_20_04_supported_ros_distributions" ]; then
+  readonly ubuntu_20_04_supported_ros_distributions=("noetic" "foxy" "galactic" "rolling")
+fi
+if [ -z "$ubuntu_22_04_supported_ros_distributions" ]; then
+  readonly ubuntu_22_04_supported_ros_distributions=("rolling" "humble")
+fi
+
 # This needs to be set for every branch
 # Check the set_supported_versions functions below and update as fit.
 RTW_BRANCH_ROS_DISTRO="rolling"
@@ -349,6 +358,7 @@ function set_framework_default_paths {
   ROS2_CONTROL_CONTROLLER_TEMPLATES="$ROS2_CONTROL_TEMPLATES/controller"
   LICENSE_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/licenses"
   DOCKER_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/docker"
+  OS_CONFIGURE_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/os_configure"
 }
 
 function is_valid_ros_distribution {
diff --git a/scripts/_Team_Defines.bash b/scripts/_Team_Defines.bash
index b1e160bd..2bb1214b 100644
--- a/scripts/_Team_Defines.bash
+++ b/scripts/_Team_Defines.bash
@@ -34,6 +34,10 @@ fi
 ## END: Framework definitions adjustable by users
 
 # BEGIN: Define aliases for standard internal functions
+#cd to often used places
+alias cd_ros_team_ws='cd $FRAMEWORK_BASE_PATH'
+alias cd_rtw='cd $FRAMEWORK_BASE_PATH'
+alias cd_rtw_scripts='cd $RosTeamWS_FRAMEWORK_SCRIPTS_PATH'
 
 alias setup_exports=RosTeamWS_setup_exports
 
diff --git a/scripts/os_configure/install_software_20.bash b/scripts/os_configure/install_software_20.bash
old mode 100644
new mode 100755
index de5cf863..3ee4c02d
--- a/scripts/os_configure/install_software_20.bash
+++ b/scripts/os_configure/install_software_20.bash
@@ -1,196 +1,252 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
 #
-# install_software_20.bash [computer_type:{office, robot, default:lab}]
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
 #
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# install_software_20.bash [computer_type:{office, robot, default:basic}]
 
 script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
 SCRIPT_PATH=$script_own_dir
+source "${SCRIPT_PATH}"/../../setup.bash
+
+if [ -z "$supported_computer_types" ]; then
+  readonly supported_computer_types=("basic" "office" "robot")
+fi
 
 computer_type=$1
-if [ -z "$1" ]
-then
-  computer_type="lab"
-  echo "Computer type not provided using default $computer_type"
+# check if given computer_type is supported. If this is not the case, then inform user about supported types and
+# let user chose which typ he would like.
+if ! [[ " ${supported_computer_types[*]} " =~ " ${computer_type} " ]]; then
+  notify_user "The computer type ${computer_type} you have given is not supported."
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} Chose one of the following:"
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} basic    -Standard pc. Basic utilities like development utilities (git, vscode, ...) and some additional tools."
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} office   -Used for office pcs. Basic utilities, additional tools and office related stuff."
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} robot    -Used for robot platforms. Basic utilities like development utilities (git, vscode, ...)."
+  select computer_type in basic office robot;
+  do
+    case "$computer_type" in
+          basic)
+              computer_type="basic"
+              break
+            ;;
+          office)
+              computer_type="office"
+              break
+            ;;
+          robot)
+              computer_type="robot"
+              break
+            ;;
+    esac
+  done
+  echo -n -e "${TERMINAL_COLOR_NC}"
 fi
 
 echo "Installing software for $computer_type computers. Press <ENTER> to continue."
 read
 
 ROS_VERSION=melodic
-ROS2_VERSION=foxy
+ROS2_VERSIONS=( "galactic" "rolling" )
 
-# Core tools
-sudo apt update && sudo apt -y install curl gnupg2 lsb-release
+### CORE TOOLS ###
+sudo apt update sudo apt -y install ca-certificates curl gnupg gnupg2 lsb-release
 
-#KDE Backports
-sudo apt-add-repository -y ppa:kubuntu-ppa/backports
-sudo apt update && sudo apt -y dist-upgrade && sudo apt -y autoremove
+# Nala - better apt frontend
+echo "deb http://deb.volian.org/volian/ scar main" | sudo tee /etc/apt/sources.list.d/volian-archive-scar-unstable.list
+wget -qO - https://deb.volian.org/volian/scar.key | sudo tee /etc/apt/trusted.gpg.d/volian-archive-scar-unstable.gpg > /dev/null
+sudo apt update
+sudo apt -y install nala
+nala --install-completion bash
 
-### Useful tools
-sudo apt -y install vim ssh git trash-cli htop unrar yakuake screen finger ksshaskpass kompare filelight
-# Dolphin Plugins
-sudo apt -y install kdesdk-kio-plugins kdesdk-scripts
+# git stable upstream version
+sudo add-apt-repository -y ppa:git-core/ppa
+sudo apt update
 
-if ([[ $computer_type != "robot" ]])
-then
-  sudo apt -y install recordmydesktop rdesktop gimp meshlab inkscape pdfposter unrar
-  sudo DEBIAN_FRONTEND=noninteractive apt -y install wireshark
-#   sudo apt -y install gvfs-bin gvfs-fuse gvfs-backends
-fi
+### BASIC TOOLS ###
+sudo apt -y install neovim ssh git qgit trash-cli htop unrar yakuake screen finger ksshaskpass kompare filelight tldr thefuck ranger tree pre-commit
 
 # Useful libraries
 sudo apt -y install libxml2-dev libvlc-dev libmuparser-dev libudev-dev
 
-if ([[ $computer_type != "robot" ]])
-then
-  # Latex
-  sudo apt -y install kile texlive-full texlive-lang-german kbibtex ktikz
-fi
-
-# Python tools
-sudo apt -y install python3-pip
-sudo pip3 install --upgrade pip
-sudo pip3 install virtualenv virtualenvwrapper notebook
+### DEVELOPMENT TOOLS ###
+# gh - Github CLI
+curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | sudo dd of=/usr/share/keyrings/githubcli-archive-keyring.gpg \
+&& sudo chmod go+r /usr/share/keyrings/githubcli-archive-keyring.gpg \
+&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
+&& sudo apt update \
+&& sudo apt -y  install gh
+gh completion -s bash | tee "$HOME"/.local/share/bash-completion/completions/gh.bash > /dev/null
+
+# visual studio code
+sudo snap install --classic code
+# install all plugins for visual studio code
+vs_code_plugin_file=$RosTeamWS_FRAMEWORK_OS_CONFIGURE_PATH/vs-code_plugins.txt
+while read extension; do
+  # ignore empty lines or lines starting with "#"
+  [[ $extension =~ ^#.* ]] || [ -z "$extension" ] && continue
+  code --install-extension "${extension}"
+done < "${vs_code_plugin_file}"
+
+# Docker
+sudo apt-get update
+sudo mkdir -p /etc/apt/keyrings
+curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
+echo \
+  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
+  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+sudo apt-get update
+sudo apt -y install docker-ce docker-ce-cli containerd.io docker-compose-plugin
+sudo groupadd docker
+sudo usermod -aG docker "$(whoami)"
 
+# VirtualBox
+sudo apt install virtualbox dkms virtualbox-guest-utils virtualbox-ext-pack
 
+## ROS
 # ROS Packages
 bash $SCRIPT_PATH/install_software_ros.bash $ROS_VERSION
 
 # ROS2 Packages
-bash $SCRIPT_PATH/install_software_ros2.bash $ROS2_VERSION
+for ROS2_VERSION in "${ROS2_VERSIONS[@]}"
+do
+  bash $SCRIPT_PATH/install_software_ros2.bash $ROS2_VERSION
+done
 
 sudo rosdep init
 rosdep update
 
-# if ([[ $computer_type == "lab" ]] || [[$computer_type == "robot" ]])
-# then
-#   bash $SCRIPT_PATH/configure_ROSTeamWS.bash $ROS_VERSION
-# fi
-#
-# if ([[ $computer_type == "robot" ]])
-# then
-#   bash $SCRIPT_PATH/configure_robots.bash $ROS_VERSION
-# fi
+# ! They need to come after ros installation !
+# Python tools
+sudo apt -y install python3-pip \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-flake8-blind-except \
+  python3-flake8-builtins \
+  python3-flake8-class-newline \
+  python3-flake8-comprehensions \
+  python3-flake8-deprecated \
+  python3-flake8-docstrings \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  python3-pytest \
+  python3-pytest-cov \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures \
+  python3-rosdep \
+  python3-rosdep2 \
+  python3-setuptools \
+  python3-vcstool \
+  python3-pip \
+  python3-virtualenv \
+  python3-virtualenvwrapper \
+  python3-notebook \
+pip3 install --upgrade pip
+
+# setup bash
+cat "$OS_CONFIGURE_TEMPLATES/extend_to_bashrc" >> "$HOME/.bashrc"
+cat "$OS_CONFIGURE_TEMPLATES/extend_to_bash_aliases" >> "$HOME/.bash_aliases"
+cat "$OS_CONFIGURE_TEMPLATES/extend_to_bash_commands" >> "$HOME/.bash_commands"
+
+# setup git
+commit_template_path="$HOME/.config/git"
+template_name="commit-template.txt"
+mkdir -p "$commit_template_path"
+cp "$OS_CONFIGURE_TEMPLATES/$template_name" "$commit_template_path/."
+git config --global core.editor "vim"
+git config --global commit.template "$commit_template_path/$template_name"
+
+### NONE DEVELOPMENT RELATED TOOLS ###
 
-if ([[ $computer_type == "office" ]])
-then
+# Dolphin Plugins
+sudo apt -y install kdesdk-scripts
 
-  sudo apt -y install pass
+# Nextcloud
+sudo apt -y install nextcloud-desktop
 
-#   sudo apt -y install redshift
+### BACKPORTS ###
+# KDE Backports
+sudo apt-add-repository -y ppa:kubuntu-ppa/backports
+sudo apt update
+sudo apt -y dist-upgrade
+sudo apt -y autoremove
 
+########################## END BASIC SETUP ##########################
 
-  # Network manager
-  sudo apt -y install network-manager-openvpn network-manager-vpnc network-manager-ssh network-manager-openconnect
+if [[ "${computer_type}" != "robot" ]]
+then
+  sudo apt -y install recordmydesktop rdesktop gimp meshlab inkscape pdfposter unrar
+fi
+
+if [[ "${computer_type}" == "office" ]]
+then
 
+  ### CRYPTOPGRAPHY AND PASSWORD MANAGEMENT ###
   # Cryptography
   sudo apt -y install kleopatra scdaemon
+  #  Passwordmanager
+  sudo apt -y install pass
+
+  ### NETWORKING ###
+  # Network manager
+  sudo apt -y install network-manager-openvpn network-manager-vpnc network-manager-ssh network-manager-openconnect
+
+  # Remote desktop
+  sudo apt -y install krdc
 
+  ##  Network monitoring and debugging
+  # Wireshark
+  sudo DEBIAN_FRONTEND=noninteractive apt -y install wireshark
+  # debugging
+  sudo apt install nethogs nload net-tools
+
+  ### ADDITIONAL DEVELOPMENT TOOLS ###
   # Code optimization and profiling
   sudo apt -y install valgrind kcachegrind hotspot heaptrack-gui
   sudo apt -y install linux-tools-generic linux-cloud-tools-generic  # Kernel tools
 
-
-  # Datensicherung
-#   sudo apt -y install kup bup
-
   sudo apt -y install flac
 
   sudo add-apt-repository -y ppa:freecad-maintainers/freecad-daily
   sudo apt update
   sudo apt -y install freecad-daily spacenavd
 
-  # Nextcloud
-  sudo apt -y install nextcloud-desktop
-
-  # VirtualBox
-  sudo sh -c 'echo "deb [arch=amd64] https://download.virtualbox.org/virtualbox/debian $(lsb_release -sc) contrib" > /etc/apt/sources.list.d/virtualbox.list'
-  wget -q https://www.virtualbox.org/download/oracle_vbox_2016.asc -O- | sudo apt-key add -
-  sudo apt update
-  sudo apt -y install virtualbox-6.1 dkms virtualbox-guest-utils virtualbox-ext-pack
-
-  ## Messgengers
-
-  # Telegram
-  sudo add-apt-repository ppa:atareao/telegram
-  sudo apt update
-  sudo apt -y install -f telegram
-
-  # Hamsket
-  sudo apt -y install libappindicator3-1
-  wget https://github.com/TheGoddessInari/hamsket/releases/download/0.6.2/hamsket_0.6.2_amd64.deb
-  sudo dpkg -i hamsket_0.6.2_amd64.deb
-  rm hamsket_0.6.2_amd64.deb
-
-  # Spotify
-  curl -sS https://download.spotify.com/debian/pubkey_0D811D58.gpg | sudo apt-key add -
-  echo "deb http://repository.spotify.com stable non-free" | sudo tee /etc/apt/sources.list.d/spotify.list
-  sudo apt update
-  sudo apt -y install spotify-client
-
-  # Noson
-  sudo add-apt-repository ppa:jlbarriere68/noson-app
+  # Tracing
+  sudo apt-add-repository ppa:lttng/stable-2.12
   sudo apt update
-  sudo apt -y install noson-app
+  sudo apt -y install lttng-tools lttng-modules-dkms liblttng-ust-dev
+  sudo apt -y install python3-babeltrace python3-lttng python3-lttngust
+  sudo usermod -aG tracing "$(whoami)"
 
+  ### MANAGE PERSONAL INFORMATION
   # KDE-PIM
   sudo apt -y install kontact korganizer kmail kjots kaddressbook kdepim*
 
-  # Tools
-  sudo apt -y install  krdc
-
+  ### OFFICE TOOLS ###
   # Notes-taking
   sudo add-apt-repository ppa:pbek/qownnotes
   sudo apt update
   sudo apt -y install qownnotes
 
+  ### LANGUAGES ###
   # Language packs
   sudo apt -y install language-pack-de language-pack-de-base language-pack-kde-de aspell-de hunspell-de-de hyphen-de wogerman
   sudo apt -y install language-pack-hr language-pack-hr-base language-pack-kde-hr aspell-hr hunspell-hr hyphen-hr
 
-  ## Development Tools
-
-  # GitHub CLI
-  curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | sudo gpg --dearmor -o /usr/share/keyrings/githubcli-archive-keyring.gpg
-  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null
-  sudo apt update
-  sudo apt -y install gh
-
-  # Pre-commit
-  sudo pip3 install pre-commit
-
-  sudo apt -y install gitk
-
-  # Docker
-  curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
-  echo \
-  "deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
-  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
-  sudo apt update
-  sudo apt -y install docker-ce docker-ce-cli containerd.io docker-compose
-  sudo groupadd docker
-  sudo usermod -aG docker `whoami`
-
-  # Tracing
-  sudo apt-add-repository ppa:lttng/stable-2.12
-  sudo apt update
-  sudo apt -y install lttng-tools lttng-modules-dkms liblttng-ust-dev
-  sudo apt -y install python3-babeltrace python3-lttng python3-lttngust
-  sudo usermod -aG tracing `whoami`
-
-  # Tuxedo repositories
-  sudo sh -c 'echo "deb https://deb.tuxedocomputers.com/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/tuxedocomputers.list'
-  sudo sh -c 'echo "deb https://oibaf.tuxedocomputers.com/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/tuxedocomputers.list'
-  sudo sh -c 'echo "deb https://graphics.tuxedocomputers.com/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/tuxedocomputers.list'
-  sudo sh -c 'echo "deb https://kernel.tuxedocomputers.com/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/tuxedocomputers.list'
-  wget -O - http://deb.tuxedocomputers.com/0x54840598.pub.asc | sudo apt-key add -
-  sudo apt update
-  sudo apt -y install tuxedo-tomte tuxedo-control-center tuxedo-*
-
 fi
 
-sudo apt update && sudo apt -y dist-upgrade && sudo apt -y autoremove
-
+sudo apt update
+sudo apt -y dist-upgrade
+sudo apt -y autoremove
 
-# Configs
-# Yakuake
+# log is created somehow
+trash "${RosTeamWS_FRAMEWORK_OS_CONFIGURE_PATH}/log/"
diff --git a/scripts/os_configure/install_software_22.bash b/scripts/os_configure/install_software_22.bash
new file mode 100755
index 00000000..bb1a2d2c
--- /dev/null
+++ b/scripts/os_configure/install_software_22.bash
@@ -0,0 +1,242 @@
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# install_software_22.bash [computer_type:{office, robot, default:basic}]
+
+script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
+SCRIPT_PATH=$script_own_dir
+source "${SCRIPT_PATH}"/../../setup.bash
+
+if [ -z "$supported_computer_types" ]; then
+  readonly supported_computer_types=("basic" "office" "robot")
+fi
+
+computer_type=$1
+# check if given computer_type is supported. If this is not the case, then inform user about supported types and
+# let user chose which typ he would like.
+if ! [[ " ${supported_computer_types[*]} " =~ " ${computer_type} " ]]; then
+  notify_user "The computer type ${computer_type} you have given is not supported."
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} Chose one of the following:"
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} basic    -Standard pc. Basic utilities like development utilities (git, vscode, ...) and some additional tools."
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} office   -Used for office pcs. Basic utilities, additional tools and office related stuff."
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION} robot    -Used for robot platforms. Basic utilities like development utilities (git, vscode, ...)."
+  select computer_type in basic office robot;
+  do
+    case "$computer_type" in
+          basic)
+              computer_type="basic"
+              break
+            ;;
+          office)
+              computer_type="office"
+              break
+            ;;
+          robot)
+              computer_type="robot"
+              break
+            ;;
+    esac
+  done
+  echo -n -e "${TERMINAL_COLOR_NC}"
+fi
+
+echo "Installing software for $computer_type computers. Press <ENTER> to continue."
+read
+
+ROS2_VERSIONS=( "humble" "rolling" )
+
+### CORE TOOLS ###
+sudo apt update
+sudo apt -y install ca-certificates curl gnupg gnupg2 lsb-release
+
+# Nala - better apt frontend
+echo "deb http://deb.volian.org/volian/ scar main" | sudo tee /etc/apt/sources.list.d/volian-archive-scar-unstable.list
+wget -qO - https://deb.volian.org/volian/scar.key | sudo tee /etc/apt/trusted.gpg.d/volian-archive-scar-unstable.gpg > /dev/null
+sudo apt update
+sudo apt -y install nala
+nala --install-completion bash
+
+# git stable upstream version
+sudo add-apt-repository -y ppa:git-core/ppa
+sudo apt update
+
+### BASIC TOOLS ###
+sudo apt -y install neovim ssh git qgit trash-cli htop unrar yakuake screen finger ksshaskpass kompare filelight tldr thefuck ranger tree pre-commit
+
+# Useful libraries
+sudo apt -y install libxml2-dev libvlc-dev libmuparser-dev libudev-dev
+
+### DEVELOPMENT TOOLS ###
+# gh - Github CLI (it seems that gh needs to be install via apt to get access to .ssh keys)
+sudo apt -y install gh
+gh completion -s bash | tee "$HOME"/.local/share/bash-completion/completions/gh.bash > /dev/null
+
+# visual studio code
+sudo snap install --classic code
+# install all plugins for visual studio code
+vs_code_plugin_file=$RosTeamWS_FRAMEWORK_OS_CONFIGURE_PATH/vs-code_plugins.txt
+while read extension; do
+  # ignore empty lines or lines starting with "#"
+  [[ $extension =~ ^#.* ]] || [ -z "$extension" ] && continue
+  code --install-extension "${extension}"
+done < "${vs_code_plugin_file}"
+
+# Docker
+sudo apt-get update
+sudo mkdir -p /etc/apt/keyrings
+curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
+echo \
+  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
+  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+sudo apt-get update
+sudo apt -y install docker-ce docker-ce-cli containerd.io docker-compose-plugin
+sudo groupadd docker
+sudo usermod -aG docker "$(whoami)"
+
+# VirtualBox
+sudo apt -y install virtualbox dkms virtualbox-guest-utils virtualbox-ext-pack
+
+## ROS
+# ROS2 Packages
+for ROS2_VERSION in "${ROS2_VERSIONS[@]}"
+do
+  bash $SCRIPT_PATH/install_software_ros2.bash $ROS2_VERSION
+done
+
+sudo rosdep init
+rosdep update
+
+# ! They need to come after ros installation !
+# Python tools
+sudo apt -y install python3-pip \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-flake8-blind-except \
+  python3-flake8-builtins \
+  python3-flake8-class-newline \
+  python3-flake8-comprehensions \
+  python3-flake8-deprecated \
+  python3-flake8-docstrings \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  python3-pytest \
+  python3-pytest-cov \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures \
+  python3-rosdep \
+  python3-rosdep2 \
+  python3-setuptools \
+  python3-vcstool \
+  python3-pip \
+  python3-virtualenv \
+  python3-virtualenvwrapper \
+  python3-notebook \
+pip3 install --upgrade pip
+
+# setup bash
+cat "$OS_CONFIGURE_TEMPLATES/extend_to_bashrc" >> "$HOME/.bashrc"
+cat "$OS_CONFIGURE_TEMPLATES/extend_to_bash_aliases" >> "$HOME/.bash_aliases"
+cat "$OS_CONFIGURE_TEMPLATES/extend_to_bash_commands" >> "$HOME/.bash_commands"
+
+# setup git
+commit_template_path="$HOME/.config/git"
+template_name="commit-template.txt"
+mkdir -p "$commit_template_path"
+cp "$OS_CONFIGURE_TEMPLATES/$template_name" "$commit_template_path/."
+git config --global core.editor "vim"
+git config --global commit.template "$commit_template_path/$template_name"
+
+### NONE DEVELOPMENT RELATED TOOLS ###
+
+# Dolphin Plugins
+sudo apt -y install kdesdk-scripts
+
+# Nextcloud
+sudo apt -y install nextcloud-desktop
+
+### BACKPORTS ###
+# KDE Backports
+sudo apt-add-repository -y ppa:kubuntu-ppa/backports
+sudo apt update
+sudo apt -y dist-upgrade
+sudo apt -y autoremove
+
+########################## END BASIC SETUP ##########################
+
+if [[ "${computer_type}" != "robot" ]]
+then
+  sudo apt -y install recordmydesktop rdesktop gimp meshlab inkscape pdfposter unrar
+fi
+
+if [[ "${computer_type}" == "office" ]]
+then
+
+  ### CRYPTOPGRAPHY AND PASSWORD MANAGEMENT ###
+  # Cryptography
+  sudo apt -y install kleopatra scdaemon
+  #  Passwordmanager
+  sudo apt -y install pass
+
+  ### NETWORKING ###
+  # Network manager
+  sudo apt -y install network-manager-openvpn network-manager-vpnc network-manager-ssh network-manager-openconnect
+
+  # Remote desktop
+  sudo apt -y install krdc
+
+  ##  Network monitoring and debugging
+  # Wireshark
+  sudo DEBIAN_FRONTEND=noninteractive apt -y install wireshark
+  # debugging
+  sudo apt install nethogs nload net-tools
+
+  ### ADDITIONAL DEVELOPMENT TOOLS ###
+  # Code optimization and profiling
+  sudo apt -y install valgrind kcachegrind hotspot heaptrack-gui
+  sudo apt -y install linux-tools-generic linux-cloud-tools-generic  # Kernel tools
+
+  sudo apt -y install flac
+
+  sudo add-apt-repository -y ppa:freecad-maintainers/freecad-daily
+  sudo apt update
+  sudo apt -y install freecad-daily spacenavd
+
+  # Tracing
+  sudo apt -y install lttng-tools lttng-modules-dkms liblttng-ust-dev
+  sudo apt -y install python3-babeltrace python3-lttng python3-lttngust
+  sudo usermod -aG tracing "$(whoami)"
+
+  ### MANAGE PERSONAL INFORMATION
+  # KDE-PIM
+  sudo apt -y install kontact korganizer kmail kjots kaddressbook kdepim*
+
+  ### OFFICE TOOLS ###
+  # Notes-taking
+  sudo add-apt-repository ppa:pbek/qownnotes
+  sudo apt update
+  sudo apt -y install qownnotes
+
+  ### LANGUAGES ###
+  # Language packs
+  sudo apt -y install language-pack-de language-pack-de-base language-pack-kde-de aspell-de hunspell-de-de hyphen-de wogerman
+  sudo apt -y install language-pack-hr language-pack-hr-base language-pack-kde-hr aspell-hr hunspell-hr hyphen-hr
+
+fi
+
+sudo apt update
+sudo apt -y dist-upgrade
+sudo apt -y autoremove
+# log is created somehow
+trash "${RosTeamWS_FRAMEWORK_OS_CONFIGURE_PATH}/log/"
diff --git a/scripts/os_configure/install_software_ros.bash b/scripts/os_configure/install_software_ros.bash
index a8d81fab..adbb799e 100644
--- a/scripts/os_configure/install_software_ros.bash
+++ b/scripts/os_configure/install_software_ros.bash
@@ -1,4 +1,20 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
+SCRIPT_PATH=$script_own_dir
+source "$SCRIPT_PATH"/../../setup.bash
 
 #### ROS Repository
 if [[ ! -f "/etc/apt/sources.list.d/ros-latest.list" ]]; then
@@ -27,7 +43,7 @@ sudo apt -y install ros-${ROS_DISTRO}-desktop-full ros-${ROS_DISTRO}-desktop ros
 
 # ROS: Useful tools
 sudo apt -y install python3-catkin-*
-sudo apt install python3-catkin-lint python3-pip
+sudo apt -y install python3-catkin-lint python3-pip
 sudo pip3 install osrf-pycommon
 sudo apt -y install python3-wstool
 sudo apt -y install python3-vcstool
@@ -48,12 +64,6 @@ sudo apt -y install ros-${ROS_DISTRO}-moveit
 sudo apt -y install ros-${ROS_DISTRO}-moveit-*
 sudo apt -y install libmuparser-dev ros-${ROS_DISTRO}-brics-actuator ros-${ROS_DISTRO}-openrave ros-${ROS_DISTRO}-move-base
 sudo apt -y install ros-${ROS_DISTRO}-teleop-twist-joy ros-${ROS_DISTRO}-twist-mux
-# Mit dem vorsicht auch: ros-${ROS_DISTRO}-schunk-*
-
-# INSTALL Released repos from KITRobotics
-# sudo apt -y install ros-${ROS_DISTRO}-iirob-filters ros-${ROS_DISTRO}-force-torque-sensor ros-${ROS_DISTRO}-ati-force-torque
-# sudo apt -y install ros-${ROS_DISTRO}-ipr-extern
-
 
 # ROS Control
 sudo apt -y install ros-${ROS_DISTRO}-control-*
@@ -70,11 +80,3 @@ sudo apt -y install ros-${ROS_DISTRO}-rosparam-handler ros-${ROS_DISTRO}-pcl-ros
 
 # TF2 Packages
 sudo apt -y install ros-${ROS_DISTRO}-tf2 ros-${ROS_DISTRO}-tf2-sensor-msgs
-
-# IKFast and OpenRAVE
-# sudo add-apt-repository ppa:openrave/release
-# sudo apt update
-# sudo apt install openrave0.8-dp-ikfast
-
-# Add libraries for ROS packages
-#sudo apt -y install libfcl-dev libfcl-0.5-dev
diff --git a/scripts/os_configure/install_software_ros2.bash b/scripts/os_configure/install_software_ros2.bash
index 0f3bdc7b..42fe3f36 100644
--- a/scripts/os_configure/install_software_ros2.bash
+++ b/scripts/os_configure/install_software_ros2.bash
@@ -1,5 +1,22 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 # based on https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/
+script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
+SCRIPT_PATH=$script_own_dir
+source "$SCRIPT_PATH"/../../setup.bash
 
 ROS_DISTRO=$1
 if [ -z "$1" ]
@@ -10,9 +27,9 @@ then
   read
 fi
 
-if [[ ! -f "/etc/apt/sources.list.d/ros2-latest.list" ]]; then
-  sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+if [[ ! -f "/etc/apt/sources.list.d/ros2.list" ]]; then
+  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 fi
 sudo apt update
 
@@ -32,8 +49,7 @@ sudo apt -y install ros-${ROS_DISTRO}-desktop
 
 sudo apt install -y python3-colcon-common-extensions #Install colcon for workspace creation
 
-
-sudo apt install ccache
+sudo apt -y install ccache
 
 sudo apt install python3-colcon-mixin
 colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
@@ -43,7 +59,8 @@ colcon mixin update default
 sudo apt -y install ros-${ROS_DISTRO}-plotjuggler-ros
 
 # ros2_control
-sudo apt -y install ros-${ROS_DISTRO}-forward-command-controller ros-${ROS_DISTRO}-joint-state-controller ros-${ROS_DISTRO}-joint-trajectory-controller ros-${ROS_DISTRO}-xacro
+sudo apt -y install ros-${ROS_DISTRO}-forward-command-controller ros-${ROS_DISTRO}-joint-state-broadcaster ros-${ROS_DISTRO}-joint-trajectory-controller ros-${ROS_DISTRO}-xacro
+sudo apt -y install ros-${ROS_DISTRO}-ros2-control ros-${ROS_DISTRO}-ros2-controllers ros-${ROS_DISTRO}-gazebo-ros2-control
 
 # MoveIt
 sudo apt -y install ros-${ROS_DISTRO}-geometric-shapes ros-${ROS_DISTRO}-moveit-msgs ros-${ROS_DISTRO}-moveit-resources ros-${ROS_DISTRO}-srdfdom ros-${ROS_DISTRO}-warehouse-ros
diff --git a/scripts/os_configure/vs-code_plugins.txt b/scripts/os_configure/vs-code_plugins.txt
new file mode 100644
index 00000000..c71361bf
--- /dev/null
+++ b/scripts/os_configure/vs-code_plugins.txt
@@ -0,0 +1,27 @@
+# This file contains all the plugins which are installed in visual studio code as
+# default. Everything starting with "#" is treated as comment and ignored.
+#
+# !!! SEPARATE EVERY PLUGIN WITH A NEWLINE !!!
+#
+cschlosser.doxdocgen
+eamodio.gitlens
+foxundermoon.shell-format
+jeff-hykin.better-cpp-syntax
+ms-azuretools.vscode-docker
+ms-iot.vscode-ros
+ms-python.python
+ms-python.vscode-pylance
+ms-toolsai.jupyter
+ms-toolsai.jupyter-keymap
+ms-toolsai.jupyter-renderers
+ms-vscode-remote.remote-containers
+ms-vscode-remote.remote-ssh
+ms-vscode-remote.remote-ssh-edit
+ms-vscode-remote.remote-wsl
+ms-vscode.cmake-tools
+ms-vscode.cpptools
+ms-vscode.cpptools-extension-pack
+ms-vscode.cpptools-themes
+streetsidesoftware.code-spell-checker
+timonwong.shellcheck
+twxs.cmake
diff --git a/templates/os_configure/extend_to_bash_commands b/templates/os_configure/extend_to_bash_commands
new file mode 100644
index 00000000..e0a1a38d
--- /dev/null
+++ b/templates/os_configure/extend_to_bash_commands
@@ -0,0 +1,17 @@
+
+# mkdir -p DIR/SUBDIR && cd DIR/SUBDIR
+function mkdircd () {
+     mkdir -p "$@" && eval cd "\"\$$#\"";
+}
+
+# cd multiple levels up.
+#   expects a number n element N/{0}, which determines how many levels cd should go up.
+#   e.g. cdm 3 <==> cd ../../../
+cdm () {
+  if [[ $1 ]] && [ $1 -eq $1 ] && [ $1 -gt 0 ];
+  then
+    cd $(printf "%0.s../" $(seq 1 $1));
+  else
+    echo "cdn expects an integer >= 1 as input argument"
+  fi
+}
diff --git a/templates/os_configure/extend_to_bashrc b/templates/os_configure/extend_to_bashrc
new file mode 100644
index 00000000..94847cf2
--- /dev/null
+++ b/templates/os_configure/extend_to_bashrc
@@ -0,0 +1,5 @@
+
+# add usful self_defined commands to this file
+if [ -f ~/.bash_commands ]; then
+    . ~/.bash_commands
+fi