diff --git a/.gitignore b/.gitignore
index 687f872..81c8421 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,4 @@
 .vscode/
-
+log
+build
+install
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..774bf48
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,35 @@
+FROM osrf/ros:humble-desktop
+
+# Install dependencies
+RUN apt update && apt install -y libprotobuf-dev libprotoc-dev protobuf-compiler wget unzip sudo libasio-dev
+
+
+# Install kRPC
+RUN mkdir krpc && \
+    cd krpc && \
+    wget https://github.com/krpc/krpc/releases/download/v0.5.2/krpc-cpp-0.5.2.zip && \ 
+    unzip krpc-cpp-0.5.2.zip && \
+    cd krpc-cpp-0.5.2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    make install
+
+RUN ldconfig
+
+### Bridge into it 
+##  Build ksp_bridge
+RUN mkdir -p /ros2_ws
+WORKDIR /ros2_ws
+RUN git clone https://github.com/clausqr/ksp_bridge.git src
+RUN . /opt/ros/humble/setup.sh && \
+      colcon build 
+RUN echo "source /ros2_ws/install/local_setup.bash" >> /root/.bashrc
+
+##  Build ksp_bridge
+# $ docker build -t clausqr:ksp_bridge . 
+## Running this container
+# $ docker run -it -v $(pwd):/ros_ws/src --net=host clausqr:ksp_bridge
+## Inside:
+# $ ros2 launch ksp_bridge_examples resource_monitor.launch.py
diff --git a/README.md b/README.md
index a782bf3..823411f 100644
--- a/README.md
+++ b/README.md
@@ -4,80 +4,64 @@ ROS2 package for Kerbal Space Program based on the kRPC mod.
 
 Works with:  
 
-+ KSP 1.12.3
++ KSP 1.12.5
 
-+ kRPC 0.4.9
++ kRPC 0.5.2
 
-+ ROS2 Foxy
++ ROS2 Humble
 
-+ Ubuntu 20.04
++ Ubuntu 22.04
 
 ## Installation
 
-The installation of the [kRPC mod](https://github.com/nullprofile/krpc) and it's dependencies.
-
-### Libraries
-
-Installation of the protobuf library:
-
-```bash
-sudo apt update
-sudo apt install -y libprotobuf-dev
+### Build and install kRPC mod
+
+Install the [kRPC mod](https://github.com/nullprofile/krpc) and it's dependencies.
+
+``` bash
+mkdir krpc
+    cd krpc
+    wget https://github.com/krpc/krpc/releases/download/v0.5.2/krpc-cpp-0.5.2.zip 
+    unzip krpc-cpp-0.5.2.zip 
+    cd krpc-cpp-0.5.2
+    mkdir build
+    cd build
+    cmake ..
+    make 
+    make install
+    ldconfig    # may need sudo!
 ```
 
-Installation of the ASIO standalone library:
+### Build and install ksp_bridge
 
-```bash
-wget https://sourceforge.net/projects/asio/files/asio/1.22.1%20%28Stable%29/asio-1.22.1.tar.bz2
-tar xf asio-1.22.1.tar.bz2
-cd asio-1.22.1
-./configure
-make
-sudo make install
+``` bash
+cd ~/ros2_ws
+git clone https://github.com/clausqr/ksp_bridge.git 
+source /opt/ros/humble/setup.bash
+colcon build 
 ```
 
-### kRPC - Kerbal Space Program
-
-```bash
-mkdir krpc; cd krpc
-wget https://github.com/nullprofile/krpc/releases/download/0.4.9-1.12.1/krpc-0.4.9-1.12.1.zip
-unzip krpc-0.4.9-1.12.1.zip
-```
+## Usage
 
-Copy the *GameData/kRPC* directory into the *GameData* directory of Kerbal Space Program.
-The path can be obtained through Steam (Right Click->Manage->Browse local files).
+### 1. Server settings inside KSP
 
-### kRPC - C++ library
+![up_and_down_assembly](doc/img/server_settings.jpg)
 
-```bash
-cd krpc/client
-unzip krpc-cpp-0.4.9.zip
-cd krpc-cpp-0.4.9
-mkdir build; cd build
-cmake ..
-make
-sudo make install
-sudo ldconfig
-```
+**Note**: *Max. time per update* is required to be high, but it affects the framerate.
 
-## Compilation
+### 2. Running ksp_bridge Examples
 
-Assuming the ROS2 workspace is *~/ros2_ws*.
+Resource Monitor
 
-```bash
-cd ~/ros2_ws/src
-git clone https://github.com/g0mb4/ksp_bridge.git
-cd ..
-colcon build
-source ~/.bashrc
+``` bash
+source ~/ros2_ws/ksp_bridge/install/local_setup.bash
+ros2 launch ksp_bridge_examples resource_monitor.launch.py
 ```
 
-## Server settings
-
-![up_and_down_assembly](doc/img/server_settings.jpg)
+or
 
-**Note**: *Max. time per update* is required to be high, but it affects the framerate.
+Up and Down Launch example:
 
-## Usage
-
-See examples.
+``` bash
+ros2 launch ksp_bridge_examples up_and_down.launch.py
+```
diff --git a/ksp_bridge/CMakeLists.txt b/ksp_bridge/CMakeLists.txt
index d8120f1..dc8abd8 100644
--- a/ksp_bridge/CMakeLists.txt
+++ b/ksp_bridge/CMakeLists.txt
@@ -43,6 +43,7 @@ ament_target_dependencies(${PROJECT_NAME}
   ksp_bridge_interfaces
   tf2
   tf2_ros
+  tf2_geometry_msgs
 )
 
 target_link_libraries(${PROJECT_NAME}
diff --git a/ksp_bridge/src/ksp_bridge.cpp b/ksp_bridge/src/ksp_bridge.cpp
index e4d868f..4b51150 100644
--- a/ksp_bridge/src/ksp_bridge.cpp
+++ b/ksp_bridge/src/ksp_bridge.cpp
@@ -6,7 +6,7 @@ KSPBridge::KSPBridge()
     : rclcpp::Node("ksp_bridge")
 {
     declare_parameter<int64_t>("update_interval", 10);
-    declare_parameter<std::vector<std::string>>("celestial_bodies", {});
+    declare_parameter<std::vector<std::string>>("celestial_bodies", {"kerbin"});
 
     int64_t update_interval = get_parameter("update_interval").as_int();
     m_param_celestial_bodies = get_parameter("celestial_bodies").as_string_array();
diff --git a/ksp_bridge/src/utils.cpp b/ksp_bridge/src/utils.cpp
index be85ba8..95e2d98 100644
--- a/ksp_bridge/src/utils.cpp
+++ b/ksp_bridge/src/utils.cpp
@@ -1,7 +1,10 @@
 #include <cctype>
 #include <ksp_bridge/utils.hpp>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include <tf2/LinearMath/Transform.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
 
 const char* base_name(const char* file)
 {