diff --git a/Dockerfile b/Dockerfile
index 4cf621dc8c95ac3ca24feea914cca46b29b5fab5..323d264b7742c72a478819aa8e4ed43cfd68d7ea 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,30 +1,36 @@
-FROM osrf/ros:melodic-desktop-full-bionic
-
-ARG uid=1000
-ARG gid=1000
-
-COPY entrypoint.sh /entrypoint.sh
-RUN chmod +x /entrypoint.sh
-
-ENV USERNAME ros
-RUN useradd -m $USERNAME && \
- echo "$USERNAME:$USERNAME" | chpasswd && \
- usermod --shell /bin/bash $USERNAME && \
- usermod -aG sudo $USERNAME && \
- echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
- chmod 0440 /etc/sudoers.d/$USERNAME && \
- # Replace 1000 with your user/group id
- usermod --uid $uid $USERNAME && \
- groupmod --gid $gid $USERNAME
-
-RUN apt-get update && apt-get install -y \
- python-catkin-tools bash \
- mesa-utils libgl1-mesa-glx
-WORKDIR /home/$USERNAME
-COPY src /home/$USERNAME/src
-RUN rosdep install --from-paths . -r -y
+FROM dorowu/ubuntu-desktop-lxde-vnc:bionic
+
+# Fix dirmngr
+RUN apt-get purge dirmngr -y && apt-get update && apt-get install dirmngr -y
+RUN apt-get dist-upgrade -y
+
+# Adding keys for ROS
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# Installing ROS
+RUN apt-get update && apt-get install -y ros-melodic-desktop-full wget nano python-rosdep
+RUN apt-get install -y \
+ ros-melodic-libfranka python-catkin-tools libeigen3-dev
+RUN apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
+RUN rosdep init && rosdep update
+
+RUN mkdir -p /root/ws_tmp /root/Desktop && ln -s /usr/share/applications/lxterminal.desktop /root/Desktop/lxterminal.desktop
+ENV ROS_DISTRO=melodic
+
+RUN /bin/bash -c "echo -e 'source /root/Desktop/ros_ws/devel/setup.bash\n \
+ umask 000\n \
+ cd /root/Desktop/ros_ws/\n' >> /root/.bashrc "
+
+WORKDIR /root/ws_tmp
+COPY vnc/copyws.sh /root/copyws.sh
+RUN chmod a+x /root/copyws.sh
+COPY ./src /root/ws_tmp/src
+
+RUN apt-get update && rosdep install --from-paths . -r -y
+
RUN catkin config \
--extend /opt/ros/melodic && \
catkin build
-
-ENTRYPOINT ["/entrypoint.sh"]
+ENV OPENBOX_ARGS --startup "/root/copyws.sh"
+VOLUME /root/Desktop/ros_ws
diff --git a/README.md b/README.md
index 4c262e0adb02929df2902a0437b82855b9f86dfe..8ff5c6414c0a05df6bf10d1b5a4696443e9fb3fc 100644
--- a/README.md
+++ b/README.md
@@ -10,30 +10,11 @@
## Docker
To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation
-instructions further below in this document. Please note that the setup for Windows and Mac OS systems uses X11 forwarding and thus
-offers limited graphics performance.
+instructions further below in this document. Please note that the setup uses vnc and thus offers limited graphics performance.
-- Clone this repo and its submodules:
- - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
- - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
-- Follow the steps for your operating system.
-
-### Linux
-
-- Install Docker for your linux distribution
-- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
-
-### Windows 10
-
-- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows)
-- Install [Xming](https://sourceforge.net/projects/xming/)
-- Run `docker-run.bat roslaunch sample_applications sample_simple_simulation.launch`
-
-### Mac OS
-
-- Install [Docker Destop for Mac OS](https://hub.docker.com/editions/community/docker-ce-desktop-mac)
-- Install [XQuartz](https://www.xquartz.org/). Enable the `Allow connections from network clients` setting in the preferences (`Security` Tab).
-- Run `docker-run-mac.sh roslaunch sample_applications sample_simple_simulation.launch`
+- Install Docker for your system (for Windows and Mac OS, install Docker Desktop)
+- Run the container: `docker run -it -p 6080:80 --rm git-st.inf.tu-dresden.de:4567/ceti/ros-internal/panda_gazebo_workspace`. A webserver is run inside the container that is exposed to port `6080` on your system.
+- Open `http://localhost:6080` in a web browser
## Requirements for development
diff --git a/config.xlaunch b/config.xlaunch
deleted file mode 100644
index 04b7faeb2ff618014c25a18c332d40fa1053e284..0000000000000000000000000000000000000000
--- a/config.xlaunch
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0"?>
-<XLaunch xmlns="http://www.straightrunning.com/XmingNotes" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.straightrunning.com/XmingNotes XLaunch.xsd" WindowMode="MultiWindow" ClientMode="NoClient" Display="0" Clipboard="true" NoAccessControl="true"/>
diff --git a/docker-run-mac.sh b/docker-run-mac.sh
deleted file mode 100644
index 1e407c85b6e309d59ccd04ddd2e70605480d7bf7..0000000000000000000000000000000000000000
--- a/docker-run-mac.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/sh
-
-docker build . -t ceti-panda-gazebo-workspace
-
-XSOCK=/tmp/.X11-unix
-
-/usr/X11/bin/xhost + 127.0.0.1
-defaults write org.macosforge.xquartz.X11 enable_iglx -bool true
-
-docker run -it \
- --volume=$XSOCK:$XSOCK:rw \
- --env="LIBGL_ALWAYS_INDIRECT=1" \
- --env="DISPLAY=host.docker.internal:0" \
- --user="ros" \
- ceti-panda-gazebo-workspace \
- "$@"
\ No newline at end of file
diff --git a/docker-run.bat b/docker-run.bat
deleted file mode 100644
index 440af3a4c2242d593f1e85e201328adeaf9cf044..0000000000000000000000000000000000000000
--- a/docker-run.bat
+++ /dev/null
@@ -1,11 +0,0 @@
-start config.xlaunch
-
-docker build . -t ceti-panda-gazebo-workspace
-
-docker run -it^
- --env="DISPLAY=host.docker.internal:0"^
- --user="ros"^
- ceti-panda-gazebo-workspace^
- %*
-
-pause
\ No newline at end of file
diff --git a/docker-run.sh b/docker-run.sh
deleted file mode 100755
index a53368027d31bcd98a437b0df6c52ec89968d23a..0000000000000000000000000000000000000000
--- a/docker-run.sh
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash
-
-# http://wiki.ros.org/docker/Tutorials/GUI
-
-docker build . -t ceti-panda-gazebo-workspace \
- --build-arg UID=$UID \
- --build-arg GID=$GID
-
-XSOCK=/tmp/.X11-unix
-XAUTH=/tmp/.docker.xauth
-touch $XAUTH
-xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
-
-docker run -it \
- --volume=$XSOCK:$XSOCK:rw \
- --volume=$XAUTH:$XAUTH:rw \
- --env="XAUTHORITY=${XAUTH}" \
- --env="DISPLAY" \
- --device=/dev/dri \
- --group-add video \
- --user="ros" \
- ceti-panda-gazebo-workspace \
- "$@"
\ No newline at end of file
diff --git a/entrypoint.sh b/entrypoint.sh
deleted file mode 100644
index 527ef79f97e119b848d1817fcec54f9bc4be1227..0000000000000000000000000000000000000000
--- a/entrypoint.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-source /opt/ros/melodic/setup.bash
-source $HOME/devel/setup.bash
-exec "$@"
\ No newline at end of file
diff --git a/vnc/copyws.sh b/vnc/copyws.sh
new file mode 100644
index 0000000000000000000000000000000000000000..f2e3afcebbb178197c70717a49d17fbac99569c3
--- /dev/null
+++ b/vnc/copyws.sh
@@ -0,0 +1,7 @@
+#!/bin/sh
+
+if [ -z "$(ls -A /root/Desktop/ros_ws)" ]; then
+ echo "Copying workspace..."
+ cp /root/ws_tmp/* /root/Desktop/ros_ws -r
+ chmod a+rwx /root/Desktop/ros_ws/ -R
+fi
\ No newline at end of file