diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b9dbde..4e3f4fb 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,6 +21,8 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(spdlog REQUIRED)
 find_package(rostest REQUIRED)
 
+catkin_python_setup()
+
 ## =============================
 ## ROS message generation
 ## =============================
@@ -75,16 +77,11 @@ target_link_libraries(knowrob-ros ${catkin_LIBRARIES} spdlog::spdlog)
 ## Python library installation
 ## =============================
 
-# Install Python library (e.g., knowrob_ros_lib.py)
-# With this:
-file (COPY 
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/knowrob_ros_lib/knowrob_ros_lib.py
-    DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/python3/dist-packages/knowrob_ros/
-)
 
-catkin_install_python(PROGRAMS
-  scripts/test_knowrob_ros_lib.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# list all executable python and shell scripts for installation
+install(PROGRAMS
+   scripts/*
+   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 ## =============================
diff --git a/Dockerfile b/Dockerfile
index aee85c7..c9f4c1d 100755
--- a/Dockerfile
+++ b/Dockerfile
@@ -4,21 +4,40 @@ MAINTAINER Sascha Jongebloed, jongebloed@uni-bremen.de
 ENV SWI_HOME_DIR=/usr/lib/swi-prolog
 ENV LD_LIBRARY_PATH=/usr/lib/swi-prolog/lib/x86_64-linux:$LD_LIBRARY_PATH
 
-RUN apt update
-RUN apt install -y gdb g++ clang cmake make libeigen3-dev libspdlog-dev libraptor2-dev mongodb-clients libmongoc-1.0-0 libmongoc-dev libfmt-dev software-properties-common python3-catkin-pkg python3-catkin-tools git
-RUN apt install -y ros-noetic-catkin 
-
-RUN apt-add-repository ppa:swi-prolog/stable
-RUN apt update
-RUN apt install -y swi-prolog*
-
-# KnowRob dependencies
-RUN apt install -y swi-prolog libspdlog-dev \
-    libboost-python-dev libboost-serialization-dev libboost-program-options-dev \
-    libraptor2-dev librdf0-dev libgtest-dev \
-    libfmt-dev libeigen3-dev libmongoc-dev \
-    doxygen graphviz
-RUN apt install -y ros-noetic-tf2-geometry-msgs
+RUN apt-get update && apt-get install -y \
+    software-properties-common && \
+    apt-add-repository ppa:swi-prolog/stable && \
+    apt-get update && apt-get install -y \
+    gdb \
+    g++ \
+    clang \
+    cmake \
+    make \
+    libeigen3-dev \
+    libspdlog-dev \
+    libraptor2-dev \
+    librdf0-dev \
+    libgtest-dev \
+    libboost-python-dev \
+    libboost-serialization-dev \
+    libboost-program-options-dev \
+    libfmt-dev \
+    mongodb-clients \
+    libmongoc-1.0-0 \
+    libmongoc-dev \
+    doxygen \
+    graphviz \
+    python3 \
+    python3-dev \
+    python3-pip \
+    python3-venv \
+    python-is-python3 \
+    python3-catkin-pkg \
+    python3-catkin-tools \
+    git \
+    ros-noetic-catkin \
+    ros-noetic-tf2-geometry-msgs \
+    swi-prolog*
 
 RUN mkdir /catkin_ws
 RUN mkdir /catkin_ws/src
@@ -30,7 +49,6 @@ WORKDIR /catkin_ws
 RUN /usr/bin/catkin init
 RUN . /opt/ros/noetic/setup.sh && /usr/bin/catkin build
 
-RUN echo "aaaa"
 # Build workspace with knowrob_ros
 WORKDIR /catkin_ws/src
 ADD . /catkin_ws/src/knowrob_ros
diff --git a/action/Tell.action b/action/Tell.action
index d1fdf4a..924b20c 100644
--- a/action/Tell.action
+++ b/action/Tell.action
@@ -1,7 +1,7 @@
 TellMessage tell
 ---
-byte TRUE = 0
-byte TELL_FAILED = 1
+byte TELL_FAILED = 0
+byte TRUE = 1
 
 byte status
 ---
diff --git a/scripts/test_knowrob_ros_lib.py b/scripts/test_knowrob_ros_lib.py
old mode 100644
new mode 100755
diff --git a/setup.py b/setup.py
new file mode 100755
index 0000000..c46d538
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+
+from os.path import dirname, abspath, basename
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(
+    packages=[basename(dirname(abspath(__file__)))],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)
\ No newline at end of file
diff --git a/src/knowrob_ros_lib/README.md b/src/knowrob_ros/README.md
similarity index 100%
rename from src/knowrob_ros_lib/README.md
rename to src/knowrob_ros/README.md
diff --git a/src/knowrob_ros_lib/__init__.py b/src/knowrob_ros/__init__.py
similarity index 100%
rename from src/knowrob_ros_lib/__init__.py
rename to src/knowrob_ros/__init__.py
diff --git a/src/knowrob_ros_lib/knowrob_ros_lib.py b/src/knowrob_ros/knowrob_ros_lib.py
similarity index 100%
rename from src/knowrob_ros_lib/knowrob_ros_lib.py
rename to src/knowrob_ros/knowrob_ros_lib.py