diff --git a/Dockerfile b/Dockerfile
index 8084794f0480038ebab3ab6c6a5dfa120e9bfeeb..99c041decd98970c9fd6960e69f878ef4ad7fa07 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -9,7 +9,7 @@ RUN adduser user --home /home/user
 RUN echo 'root:DOCKER'|chpasswd
 RUN echo 'user:docker'|chpasswd
 RUN echo "user ALL=(ALL:ALL) ALL" >> /etc/sudoers
-RUN echo "source /opt/ros/melodic/setup.bash" >> /home/user/.bashrc
+#RUN echo "source /opt/ros/melodic/setup.bash" >> /home/user/.bashrc
 # covenience, this entire block can be removed without affecting the functionality
 USER user
 WORKDIR /home/user
@@ -25,9 +25,9 @@ WORKDIR /home/user/catkin_ws/src
 RUN git clone https://github.com/tecnalia-medical-robotics/manipulability_metrics
 
 # entry script
-COPY entry.sh /home/user/catkin_ws/entry.sh
+COPY scripts/* /home/user/catkin_ws/scripts/
 WORKDIR /home/user/catkin_ws
 USER root
-RUN chmod u+x /home/user/catkin_ws/entry.sh && chown user: /home/user/catkin_ws/entry.sh
+#RUN chmod u+x /home/user/catkin_ws/scripts/* && chown user: /home/user/catkin_ws/scripts/*
 USER user
 
diff --git a/scripts/.prepare.sh.swp b/scripts/.prepare.sh.swp
new file mode 100644
index 0000000000000000000000000000000000000000..21585ff70b23a890a7f141921c542532723f17b5
Binary files /dev/null and b/scripts/.prepare.sh.swp differ
diff --git a/scripts/prepare.sh b/scripts/prepare.sh
new file mode 100644
index 0000000000000000000000000000000000000000..4edcd96c91cbfbdff2f83373de3d4dac2ee36449
--- /dev/null
+++ b/scripts/prepare.sh
@@ -0,0 +1,14 @@
+# remove namespace to avoid problem
+vim -E /home/user/catkin_ws/src/manipulability_metrics/manipulability_metrics_examples/urdf/panda.urdf.xacro << EOF
+	normal GkWWdE
+	w
+	q
+EOF
+
+# install dependencies
+rosdep update
+rosdep install --from-paths src --ignore-src -r -y
+
+# make and setup
+catkin_make
+source devel/setup.bash
diff --git a/entry.sh b/scripts/start.sh
similarity index 67%
rename from entry.sh
rename to scripts/start.sh
index 1995bf900c49fc564b5b0880ac17d732102bf6f9..a224ea4a97daecf2f8c990c8388f26f1b5ca782d 100644
--- a/entry.sh
+++ b/scripts/start.sh
@@ -1,3 +1,2 @@
-source devel/setup.bash
-catkin_make
+# run launch file from example
 roslaunch manipulability_metrics_examples panda_manipulability_demo.launch