diff --git a/Dockerfile b/Dockerfile
index 1584de1a69dc9185ddcea59362d5fac68499dfcb..4430957c017596881ca541ec4ebe8dff92ea1a13 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,23 +1,16 @@
-FROM henry2423/ros-vnc-ubuntu:melodic
+FROM fbottarel/ros-desktop-full-vnc:melodic
 
-USER root
-
-# Updated ros gpg key: https://github.com/henry2423/docker-ros-vnc/issues/1
-RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-RUN apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116
-
-COPY ./vnc-entrypoint.sh /entrypoint.sh
-RUN chmod +x /entrypoint.sh
-
-RUN apt-get update && apt-get install -y \
-      python-catkin-tools bash \
-      mesa-utils libgl1-mesa-glx 
-COPY ./src /src/src
-WORKDIR /src/
+RUN apt-get update && apt-get dist-upgrade -y
+RUN apt-get install -y \
+      ros-melodic-libfranka python-catkin-tools libeigen3-dev 
+#WORKDIR /src/
+COPY ./vnc/simple_simulation.sh /root/Desktop/
+RUN chmod a+x /root/Desktop/simple_simulation.sh
 ENV ROS_DISTRO=melodic
-RUN apt-get update && rosdep install --from-paths . -r -y
+WORKDIR /home/ubuntu/ros_ws
+RUN rm build devel src -rf
+COPY ./src /home/ubuntu/ros_ws/src
+RUN apt-get update && rosdep install --from-paths . -r -y && apt-get clean
 RUN catkin config \
       --extend /opt/ros/melodic && \
-    catkin build
-
-ENTRYPOINT ["/entrypoint.sh"]
+    catkin build
\ No newline at end of file
diff --git a/README.md b/README.md
index e159019039d4b1d8f4fb6f001ee962ca772a643d..88dec4c0167e8705e9b4de0fab92606ee45f6c37 100644
--- a/README.md
+++ b/README.md
@@ -15,19 +15,9 @@ instructions further below in this document. Please note that the setup uses vnc
 - 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-vnc.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
-- Open `http://localhost:6901` in a web browser and enter the password `vncpassword`
-
-### Windows 10
-
-- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows)
-- Run `docker-run-vnc.bat roslaunch sample_applications sample_simple_simulation.launch`
-- Open `http://localhost:6901` in a web browser and enter the password `vncpassword`
+- 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/docker-run-vnc.bat b/docker-run-vnc.bat
deleted file mode 100644
index c5d3bf3ce5e44eaebfe0ad8ecb815cbcb7e46903..0000000000000000000000000000000000000000
--- a/docker-run-vnc.bat
+++ /dev/null
@@ -1,8 +0,0 @@
-docker build . -t ceti-panda-gazebo-workspace
-
-docker run -it^
- -p 5901:5901 -p 6901:6901^
- ceti-panda-gazebo-workspace^
- %*
-
-pause
\ No newline at end of file
diff --git a/docker-run-vnc.sh b/docker-run-vnc.sh
deleted file mode 100644
index c0f40ed3cb3c54a89c641ec51b87cae2c8bd56f7..0000000000000000000000000000000000000000
--- a/docker-run-vnc.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-docker build . -t ceti-panda-gazebo-workspace
-
-docker run -it \
-    -p 5901:5901 -p 6901:6901 \
-    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-entrypoint.sh b/vnc-entrypoint.sh
deleted file mode 100644
index 483d5fa9801cad0b4d04351b66a5d1dfbed4133b..0000000000000000000000000000000000000000
--- a/vnc-entrypoint.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-source /opt/ros/melodic/setup.bash
-source /src/devel/setup.bash
-exec /dockerstartup/vnc_startup.sh $@
\ No newline at end of file
diff --git a/vnc/simple_simulation.sh b/vnc/simple_simulation.sh
new file mode 100644
index 0000000000000000000000000000000000000000..f51f750947104eb9f83d47ce67f454b153e062e8
--- /dev/null
+++ b/vnc/simple_simulation.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+source ~/ros_ws/devel/setup.bash
+roslaunch sample_applications simple_simulation.launch
\ No newline at end of file