diff --git a/docs/conf.py b/docs/conf.py
index d4c52c84..a6e1ab6e 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -75,6 +75,7 @@
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 extensions = [
     "sphinx.ext.autodoc",
+    "sphinx.ext.autosectionlabel",
     "sphinx.ext.doctest",
     "sphinx.ext.intersphinx",
     "sphinx.ext.todo",
diff --git a/docs/docker/docker_use_cases/docker_use_cases.rst b/docs/docker/docker_use_cases/docker_use_cases.rst
new file mode 100644
index 00000000..05725c7a
--- /dev/null
+++ b/docs/docker/docker_use_cases/docker_use_cases.rst
@@ -0,0 +1,18 @@
+==============================
+Use Cases with docker support
+==============================
+.. _uc-with-docker-support-index:
+
+All use cases with docker suppert are listed below. For a detailed description of the use case as well as the respective commands, you can click on the link in the use case column.
+
+.. list-table:: Overview of currently supported use cases
+   :widths: auto
+   :header-rows: 1
+   :stub-columns: 1
+
+   * - use case
+     - docker command
+     - description
+   * - :ref:`Setup a new Workspace<uc-setup-docker-workspace>` with ``setup-ros-workspace``
+     - ``setup-ros-workspace-docker``
+     - Creates a new workspace and maps the workspace inside a docker container. You can then switch to docker using ``rtw_switch_to_docker``.
diff --git a/docs/docker/general_information_docker/general_information_docker.rst b/docs/docker/general_information_docker/general_information_docker.rst
new file mode 100644
index 00000000..3518db82
--- /dev/null
+++ b/docs/docker/general_information_docker/general_information_docker.rst
@@ -0,0 +1,32 @@
+==============================
+General information on docker
+==============================
+.. _general-info-on-docker-index:
+
+Generally you can always have a look at the `docs of docker <https://docs.docker.com/>`_.
+
+Installation
+""""""""""""""""
+You have to install docker which is dependent on the operating system you are using.
+
+*   `Windows <https://docs.docker.com/desktop/windows/install/>`_
+*   `Mac <https://docs.docker.com/desktop/mac/install/>`_
+*   `Linux <https://docs.docker.com/engine/install/>`_: it depends.
+
+.. note::
+  However make sure your user is in the docker group. Check with: ``groups`` command. To add your user to the docker group run: ``sudo usermod -aG docker <username>``.
+
+Usful commands
+""""""""""""""""
+For complete list of commands have a look at `official docker cli reference <https://docs.docker.com/engine/reference/commandline/cli/>`_.
+
+* ``docker container <command>``:
+
+    * ``ls`` lists all current active containers
+    * ``ls -a`` lists all containers
+    * ``rm <container>`` removes container
+
+* ``docker image <command>``:
+
+    * ``ls`` lists all images
+    * ``rm <image>`` removes image
diff --git a/docs/docker/index.rst b/docs/docker/index.rst
new file mode 100644
index 00000000..90421365
--- /dev/null
+++ b/docs/docker/index.rst
@@ -0,0 +1,17 @@
+===========
+Docker
+===========
+.. _docker-overview:
+
+RosTeamWS supports the usage of docker containers.
+
+.. toctree::
+   :maxdepth: 1
+   :glob:
+
+   general_information_docker/*
+   docker_use_cases/*
+   supported_versions/*
+
+.. note::
+  If you want to forward a xsession from docker (e.g. rviz2), you have to install xhost.
diff --git a/docs/docker/supported_versions/supported_versions.rst b/docs/docker/supported_versions/supported_versions.rst
new file mode 100644
index 00000000..4e689936
--- /dev/null
+++ b/docs/docker/supported_versions/supported_versions.rst
@@ -0,0 +1,24 @@
+=============================================
+Supported ros versions and operating systems
+=============================================
+.. _supported-os-ros-docker-versions-index:
+
+For the supported Ubuntu and ros version combinations have a look at the table below.
+
+.. list-table:: Supported Ubuntu and ros versions combinations are marked with an X.
+   :widths: auto
+   :header-rows: 1
+   :stub-columns: 1
+
+   * - ros version
+     - ubuntu 20.04
+     - ubuntu 22.04
+   * - foxy
+     - X
+     -
+   * - galactic
+     - X
+     -
+   * - rolling
+     - X
+     - X
diff --git a/docs/faq/index.rst b/docs/faq/index.rst
new file mode 100644
index 00000000..b457c45b
--- /dev/null
+++ b/docs/faq/index.rst
@@ -0,0 +1,14 @@
+================================
+FAQ
+================================
+
+On Docker
+----------------
+
+How to forward a xsession
+"""""""""""""""""""""""""""""
+If you want to forward a xsession from docker (e.g. rviz2), you have to install xhost. When executing the commands ``start_container`` the docker user is added to the X Server access list.
+
+sudo: unable to resolve host <hostname>: Name or service not known
+"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+Problem using sudo: If you encounter following message trying to use sudo: ``sudo: unable to resolve host <hostname>: Name or service not known``. You have to add ``127.0.0.1 <hostname>`` to the ``/etc/hosts`` file inside the container. However, using sudo should work fine without adding it.
diff --git a/docs/index.rst b/docs/index.rst
index f3607b62..257ea9a3 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -53,3 +53,5 @@ The opinions and proposals stated here are merely related to the authors' experi
    getting_started/index.rst
    guidelines/index.rst
    use-cases/index.rst
+   docker/index.rst
+   faq/index.rst
diff --git a/docs/use-cases/operating_system/create_setup_workspace.rst b/docs/use-cases/operating_system/create_setup_workspace.rst
index 46eadc83..a951a73c 100644
--- a/docs/use-cases/operating_system/create_setup_workspace.rst
+++ b/docs/use-cases/operating_system/create_setup_workspace.rst
@@ -3,7 +3,10 @@ Setup a new Workspace
 ===========================
 .. _uc-setup-workspace:
 
-This use-case describes how to setup a new ROS workspace using scripts from the ROS Team Workspace (RosTeamWS) framework.
+This use-case describes how to setup a new ROS workspace using scripts from the ROS Team Workspace (RosTeamWS) framework. Besides the creation of a local workspace, creation of a Ubuntu based docker container is supported. For more details have a look below in the `Docker workspace`_ section.
+
+Local workspace
+----------------
 
 ``setup-ros-workspace`` accepts ros distro name workspace suffix and workspace folder as parameters.
 All three parameters are optional.
@@ -17,3 +20,48 @@ All three parameters are optional.
 The script creates in the ``$HOME/<WS_FOLDER>`` a new ROS workspace with name ``ros_ws_<WS_PREFIX>_<ROS_DISTRO>_<WS_SUFFIX>``.
 If you want to omit any of input parameters use ``"-"`` as argument.
 Default value for ``<WS_FOLDER>`` is "workspace".
+
+.. _uc-setup-docker-workspace:
+
+Docker workspace
+------------------
+
+.. code-block:: bash
+   :caption: How to setup a workspace inside a docker container.
+   :name: setup docker workspace
+
+   setup-ros-workspace-docker ROS_DISTRO WS_FOLDER WS_PREFIX WS_SUFFIX.
+
+Like the script ``setup-ros-workspace`` the ``setup-ros-workspace-docker`` creates a new local ROS workspace. Then a Ubuntu docker container gets built and the created workspace is mounted inside the docker container under the home directory. The first time a docker container is build can take quite a while. When the first build is finished you are directly connected as user inside the container. You can verify this by checking if your hostname has changed. To exit a container simply type the ``exit`` command.
+
+Reconnect to a container
+""""""""""""""""""""""""""
+
+If you exited a container an want to reconnect as a user, you have to run the ``rtw_switch_to_docker`` command. However before executing this you have to source your workspace with ``_<workspace_alias_command>``. If you want to connect as a root user you can execute ``rtw_switch_to_docker_root``.
+
+Recreate a container
+""""""""""""""""""""""
+
+If you removed an image,  you can recreate it by switching into the ``.rtw_docker_defines`` folder inside your workspace and then executing the ``.\build_docker_image`` command. After the container is rebuilt, you can create it with ``.\create_docker_container`` command. Thereafter, you should be able to normally start, reconnect and stop the container.
+
+.. note::
+  For more general questions on the usage of docker and the limitations of RosTeamWS in interacting with docker have a look at our :ref:`docker related docs<docker-overview>`.
+
+CLI overview
+"""""""""""""
+
+.. list-table:: Overview of the cli
+   :widths: auto
+   :header-rows: 1
+   :stub-columns: 1
+
+   * - command
+     - description
+   * - ``setup-ros-workspace-docker``
+     - Creates a new workspace and maps the workspace inside a docker container. You can then switch to docker using ``rtw_switch_to_docker``.
+   * - ``rtw_switch_to_docker``
+     - Starts the docker container if it has been stopped and connects to the container as user.
+   * - ``rtw_switch_to_docker_root``
+     - Starts the docker container if it has been stopped and connects to the container as root-user.
+   * - ``rtw_stop_docker``
+     - Stops the docker container.
diff --git a/scripts/_RosTeamWs_Defines.bash b/scripts/_RosTeamWs_Defines.bash
index eda41332..9b0b195a 100755
--- a/scripts/_RosTeamWs_Defines.bash
+++ b/scripts/_RosTeamWs_Defines.bash
@@ -55,9 +55,12 @@ function RosTeamWS_setup_exports {
   export RAW_TERMINAL_COLOR_LIGHT_GRAY=$'\e[0;37m'
   export RAW_TERMINAL_COLOR_WHITE=$'\e[1;37m'
 
+  ## Define semantics of each color
   export TERMINAL_COLOR_USER_NOTICE=${TERMINAL_COLOR_YELLOW}
   export TERMINAL_COLOR_USER_INPUT_DECISION=${TERMINAL_COLOR_PURPLE}
   export TERMINAL_COLOR_USER_CONFIRMATION=${TERMINAL_COLOR_BLUE}
+  export RTW_COLOR_NOTIFY_USER=${TERMINAL_COLOR_YELLOW}
+  export RTW_COLOR_ERROR=${TERMINAL_COLOR_RED}
 }
 
 # TODO(denis): add this into setup.bash
@@ -224,21 +227,25 @@ function print_and_exit {
 
   message=$1
   echo ""
-  echo -e "${TERMINAL_COLOR_RED}$message  !!Exiting...${TERMINAL_COLOR_NC}"
+  echo -e "${RTW_COLOR_ERROR}$message!!! Exiting...${TERMINAL_COLOR_NC}"
   if [ ! -z "$2" ]; then
     echo ""
-    echo -e "${TERMINAL_COLOR_YELLOW}Usage: '$2'${TERMINAL_COLOR_NC}"
+    echo -e "${TERMINAL_COLOR_USER_NOTICE}Usage: '$2'${TERMINAL_COLOR_NC}"
   fi
-  echo -e "${TERMINAL_COLOR_BLUE}Error has happened. Press <CTRL> + C two times...${TERMINAL_COLOR_NC}"
+  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}Error has happened. Press <CTRL> + C two times...${TERMINAL_COLOR_NC}"
   read -p ""
-  throw_error
+  exit 1
 }
 
 function framework_default_paths {
   ros_distro=$1
 
   FRAMEWORK_NAME="ros_team_workspace"
-  FRAMEWORK_BASE_PATH=${FRAMEWORK_BASE_PATH:=/opt/RosTeamWS}
+
+  # if we suppose a structure like
+  # /opt/RosTeamWS/ros_ws_<ros_distro>/src/ros_team_ws/...
+  # then FRAMEWORK_BASE_PATH should be /opt/RosTeamWS/
+  FRAMEWORK_BASE_PATH="$(RosTeamWS_script_own_dir)/../../../.."
   FRAMEWORK_PACKAGE_PATH="$FRAMEWORK_BASE_PATH/ros_ws_$ros_distro/src/$FRAMEWORK_NAME"
 
   if [ ! -d "$FRAMEWORK_PACKAGE_PATH" ]; then
@@ -253,19 +260,24 @@ function framework_default_paths {
   ROS2_CONTROL_HW_ITF_TEMPLATES="$ROS2_CONTROL_TEMPLATES/hardware"
   ROS2_CONTROL_CONTROLLER_TEMPLATES="$ROS2_CONTROL_TEMPLATES/controller"
   LICENSE_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/licenses"
+  DOCKER_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/docker"
 }
 
 function check_ros_distro {
   ros_distro=$1
   if [ -z "$1" ]; then
-    ros_distro=$DEFAULT_ROS_DISTRO
-    echo "No ros_distro defined. Using default: '$ros_distro'"
-    if [ ! -d "/opt/ros/$ros_distro" ]; then
-      print_and_exit "FATAL: ROS '$ros_distro' not installed on this computer! Exiting..."
-#             echo "FATAL: ROS '$ros_distro' not installed on this computer! Exiting..."
-#             exit
+    if [ -n "$DEFAULT_ROS_DISTRO" ]; then
+      ros_distro=$DEFAULT_ROS_DISTRO
+      echo "No ros_distro defined. Using default: '$ros_distro'"
+      if [ ! -d "/opt/ros/$ros_distro" ]; then
+        print_and_exit "FATAL: ROS '$ros_distro' not installed on this computer! Exiting..."
+  #             echo "FATAL: ROS '$ros_distro' not installed on this computer! Exiting..."
+  #             exit
+      fi
+      read -p "Press <ENTER> to continue or <CTRL>+C to exit."
+    else
+      return 2>/dev/null
     fi
-    read -p "Press <ENTER> to continue or <CTRL>+C to exit."
   fi
 
   if [ ! -d "/opt/ros/$ros_distro" ]; then
@@ -279,6 +291,8 @@ function check_ros_distro {
     ros_version=2
   elif [[ $ros_distro == "galactic" ]]; then
     ros_version=2
+  elif [[ $ros_distro == "humble" ]]; then
+    ros_version=2
   elif [[ $ros_distro == "rolling" ]]; then
     ros_version=2
   elif [[ $ros_distro == "noetic" ]]; then
@@ -314,4 +328,4 @@ function compile_and_source_package {
 
 # END: Framework functions
 
-FRAMEWORK_MAIN_PATH="$(RosTeamWS_script_own_dir)/../"
+FRAMEWORK_MAIN_PATH="$(RosTeamWS_script_own_dir)/.."
diff --git a/scripts/_RosTeamWs_Docker_Defines.bash b/scripts/_RosTeamWs_Docker_Defines.bash
index d5621abd..7fe25259 100644
--- a/scripts/_RosTeamWs_Docker_Defines.bash
+++ b/scripts/_RosTeamWs_Docker_Defines.bash
@@ -14,4 +14,34 @@
 
 ## BEGIN: Default RosTeamWS Docker Definitions and Aliases
 
-# function _run_docker()
+setup-ros-workspace-docker () {
+   source "$RosTeamWS_FRAMEWORK_SCRIPTS_PATH"/setup-ros-workspace.bash
+   create_workspace_docker "$@"
+}
+
+rtw_switch_to_docker () {
+  if [ -z "$RosTeamWS_WS_DOCKER_SUPPORT" ] || [ "$RosTeamWS_WS_DOCKER_SUPPORT" == false ]; then
+    print_and_exit"It seems your current workspace does not support docker. If it should, did you activate it by executing _\"<ws_alias>\"?"
+  fi
+
+  source "$RosTeamWS_FRAMEWORK_SCRIPTS_PATH"/docker/_RosTeamWs_Docker_Defines.bash
+  start_and_connect_user_to_docker "$RosTeamWS_DOCKER_TAG"
+}
+
+rtw_switch_to_docker_root () {
+  if [ -z "$RosTeamWS_WS_DOCKER_SUPPORT" ] || [ "$RosTeamWS_WS_DOCKER_SUPPORT" == false ]; then
+    print_and_exit "It seems your current workspace does not support docker. If it should, did you activate it by executing _\"<ws_alias>\"?"
+  fi
+
+  source "$RosTeamWS_FRAMEWORK_SCRIPTS_PATH"/docker/_RosTeamWs_Docker_Defines.bash
+  start_and_connect_root_to_docker "$RosTeamWS_DOCKER_TAG"
+}
+
+rtw_stop_docker () {
+  if [ -z "$RosTeamWS_WS_DOCKER_SUPPORT" ] || [ "$RosTeamWS_WS_DOCKER_SUPPORT" == false ]; then
+    print_and_exit "It seems your current workspace does not support docker. If it should, did you activate it by executing _\"<ws_alias>\"?"
+  fi
+
+  source "$RosTeamWS_FRAMEWORK_SCRIPTS_PATH"/docker/_RosTeamWs_Docker_Defines.bash
+  stop_docker_container "$RosTeamWS_DOCKER_TAG"
+}
diff --git a/scripts/_Team_Defines.bash b/scripts/_Team_Defines.bash
index ee23f114..6c8038a8 100644
--- a/scripts/_Team_Defines.bash
+++ b/scripts/_Team_Defines.bash
@@ -12,28 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-## BEGIN: Team specific definitions
-
-DEFAULT_ROS_DISTRO="rolling"
-DEFAULT_ROS_VERSION=2
+## BEGIN: definitions
 
 # TODO(denis): We have two example teams. On is working with industrial and other with mobile robots
 # TEAM_TEAM_NAMES=("Industrial" "Mobile")
 
-TEAM_LICENSE="Apache-2.0"
-
-TEAM_REPOSITORY_SERVER="https://github.com"
-
-TEAM_PRIVATE_CONFIG_PATH=""
-
 # Define a path to a repository with your internal assets and configurations
 TEAM_INTERNAL_ASSETS="/opt/RosTeamWS/assets/"
 
 ## END: definitions
 
 # TODO(denis): implement here support for internal repos
-source $TEAM_INTERNAL_ASSETS/setup.bash
-
+if [ -f $TEAM_INTERNAL_ASSETS/setup.bash ]; then
+  source $TEAM_INTERNAL_ASSETS/setup.bash
+fi
 
 ## BEGIN: Framework definition adjustable by users
 # TBD
@@ -62,7 +54,6 @@ alias setup_ros2_aliases=RosTeamWS_setup_ros2_aliases
 
 # BEGIN: Define aliases for standard scripts
 # Change those to your custom ones you would like to use.
-
 alias create-new-package=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/create-new-package.bash
 
 alias setup-repository=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-repository.bash
@@ -71,6 +62,11 @@ alias setup-repository-ci=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-ci-config.bash
 
 alias setup-ros-workspace=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-ros-workspace.bash
 
+setup-ros-workspace () {
+  source "$RosTeamWS_FRAMEWORK_SCRIPTS_PATH"/setup-ros-workspace.bash
+  create_workspace "$@"
+}
+
 alias setup-robot-bringup=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-robot-bringup.bash
 
 alias setup-robot-description=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-robot-description.bash
diff --git a/scripts/docker/_RosTeamWs_Docker_Defines.bash b/scripts/docker/_RosTeamWs_Docker_Defines.bash
new file mode 100755
index 00000000..c6d3a364
--- /dev/null
+++ b/scripts/docker/_RosTeamWs_Docker_Defines.bash
@@ -0,0 +1,164 @@
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Load Framework defines
+docker_script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
+source $docker_script_own_dir/../_RosTeamWs_Defines.bash
+
+# assoziative array which maps the chosen rosdistro to the name which is used to install the corresponding
+# ros distribution inside docker
+declare -r -A map_to_docker_ros_distro_name=( ["foxy"]="foxy" ["galactic"]="galactic" ["rolling"]="rolling" )
+declare -r -A ros_distro_to_rtw_branch=( ["foxy"]="foxy" ["galactic"]="master" ["rolling"]="master")
+
+# $1 = name (tag) of the created docker image
+# $2 = Dockerfile which is used for creating the image
+build_docker_image () {
+  if [ -z "$1" ]; then
+    echo "No docker image tag specified. Can not create image."
+    return 1
+  fi
+  if [ -z "$2" ]; then
+    echo "No docker file specified. Can not create image."
+    return 1
+  fi
+  local docker_image_tag=$1
+  local docker_file_path=$2
+
+  # apparently docker checks every file in dir, its best to be in new dir
+  prev_pwd=$(pwd)
+  cd "$(dirname "$docker_file_path")" || { echo "Could not change directory to new workspace"; return 1; }
+
+  echo "Building docker image $docker_image_tag with docker file $docker_file_path. This can take a while..."
+  sleep 1 # sleep a second, so that user can read above message
+  docker build \
+  --build-arg user=$USER \
+  --build-arg uid=$UID \
+  --build-arg gid=$GROUPS \
+  --build-arg home=$HOME \
+  -t "$docker_image_tag" . || { return 1; }
+
+  cd "$prev_pwd" || { print_and_exit "Build of docker container succeeded but changing back previous working directory failed."; }
+}
+
+create_docker_container() {
+  if [ -z "$1" ]; then
+    print_and_exit "No docker image (tag) specified. Can not instantiate image."
+  fi
+  local docker_image_tag=$1
+
+  if [ -z "$2" ]; then
+    print_and_exit "No workspace which should be mapped to the container is given. Can not instantiate image."
+  fi
+  local ws_folder=$2
+
+  if [ -z "$3" ]; then
+    print_and_exit "No RosTeamWS_DISTRO given. Can not instantiate image."
+  fi
+  local RosTeamWS_DISTRO=$3
+
+  if [ -z "$4" ]; then
+    print_and_exit "No docker host name given. Can not instantiate image."
+  fi
+  local docker_host_name=$4
+
+  echo "Instantiating docker image '$docker_image_tag' and mapping workspace folder '$HOME/$ws_folder'."
+  echo "ros_team_ws is located under /opt/RosTeamWS/ros_ws_${RosTeamWS_DISTRO}/src/ros_team_workspace"
+  xhost +local:docker
+  docker run \
+  --net=host \
+  -h ${docker_host_name} \
+  -e DISPLAY \
+  --tmpfs /tmp \
+  -v /tmp/.X11-unix/:/tmp/.X11-unix:rw \
+  -v "$HOME/$ws_folder":"$HOME/$ws_folder":rw \
+  -v "$HOME/.ssh":"$HOME/.ssh":ro \
+  --name "$docker_image_tag"-instance \
+  -it "$docker_image_tag" /bin/bash
+}
+
+connect_user () {
+  if [ -z "$1" ]; then
+    print_and_exit "No container name given. Can not connect to instance."
+  fi
+  local container_instance_name
+  container_instance_name=$1 # assigen separate https://github.com/koalaman/shellcheck/wiki/SC2155
+
+  echo "Connecting to container instance: $container_instance_name as user."
+  docker exec -u $USER -it "$container_instance_name" /bin/bash
+}
+
+connect_root_user () {
+  if [ -z "$1" ]; then
+    print_and_exit "No container name given. Can not connect to instance."
+  fi
+  local container_instance_name
+  container_instance_name=$1 # assigen separate https://github.com/koalaman/shellcheck/wiki/SC2155
+
+  echo "Connecting to container instance: $container_instance_name as root-user."
+  docker exec -u root -it "$container_instance_name" /bin/bash
+}
+
+start_container () {
+  if [ -z "$1" ]; then
+    print_and_exit "No container name given. Can not start dockerinstance."
+  fi
+  local container_instance_name
+  container_instance_name=$1 # assigen separate https://github.com/koalaman/shellcheck/wiki/SC2155
+
+  echo "Starting container instance: $container_instance_name "
+  xhost +local:docker
+  docker start "$container_instance_name"
+}
+
+stop_container () {
+  if [ -z "$1" ]; then
+    print_and_exit "No container name given. Can not stop dockerinstance."
+  fi
+  local container_instance_name
+  container_instance_name=$1 # assigen separate https://github.com/koalaman/shellcheck/wiki/SC2155
+
+  echo "Stopping container instance: $container_instance_name "
+  xhost -local:docker
+  docker stop "$container_instance_name"
+}
+
+start_and_connect_user_to_docker () {
+  if [ -z "$1" ]; then
+    print_and_exit "The given docker tag is empty, something went wrong. Does your current workspace contain a RosTeamWS_DOCKER_TAG in .ros_team_ws_rc ?"
+  fi
+  local container_instance_name="$1-instance"
+
+  start_container "$container_instance_name"
+  connect_user "$container_instance_name"
+}
+
+start_and_connect_root_to_docker () {
+  if [ -z "$1" ]; then
+    print_and_exit "The given docker tag is empty, something went wrong. Does your current workspace contain a RosTeamWS_DOCKER_TAG in .ros_team_ws_rc ?"
+  fi
+  local container_instance_name="$1-instance"
+
+  start_container "$container_instance_name"
+  connect_root_user "$container_instance_name"
+}
+
+stop_docker_container () {
+  if [ -z "$1" ]; then
+    print_and_exit "The given docker tag is empty, something went wrong. Does your current workspace contain a RosTeamWS_DOCKER_TAG in .ros_team_ws_rc ?"
+  fi
+  local container_instance_name="$1-instance"
+
+  stop_container "$container_instance_name"
+}
diff --git a/scripts/environment/setup.bash b/scripts/environment/setup.bash
index aed7263c..3b9d0d36 100644
--- a/scripts/environment/setup.bash
+++ b/scripts/environment/setup.bash
@@ -105,6 +105,10 @@ elif [[ $ros_version == 2 ]]; then
     print_and_exit "Neither '$WS_FOLDER_0', '$WS_FOLDER_1', '$WS_FOLDER_2' nor '$WS_FOLDER_3' exist. Can not find ROS workspace!"
   fi
 
+  if [ -n "$RosTeamWS_DOCKER_TAG" ] && [ "$RosTeamWS_DOCKER_TAG" != "-" ]; then
+    echo -e "${TERMINAL_COLOR_BLUE}RosTeamWS: The workspace uses docker container '$RosTeamWS_DOCKER_TAG'."
+  fi
+
   export ROS_WS=$WS_FOLDER
   # TODO: COLCON_WS is deprecated!!
   export COLCON_WS=$ROS_WS
diff --git a/scripts/setup-ros-workspace.bash b/scripts/setup-ros-workspace.bash
index 0664becc..5e826058 100755
--- a/scripts/setup-ros-workspace.bash
+++ b/scripts/setup-ros-workspace.bash
@@ -1,135 +1,317 @@
 #!/bin/bash
 
-# workspace folder is relative to your home
+# Load Framework defines
+setup_ws_script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
+source $setup_ws_script_own_dir/_RosTeamWs_Defines.bash
+source $setup_ws_script_own_dir/docker/_RosTeamWs_Docker_Defines.bash
 
-usage="setup-ros-workspace.bash ROS_DISTRO WS_FOLDER WS_PREFIX WS_SUFFIX"
+check_user_input () {
+  # ros distribution name will be set in ${ros_distro}
+  check_ros_distro "$1"
+
+  ws_folder="$2"
+  if [ -z "$2" ]; then
+    ws_folder="workspace"
+    echo "Using default '~/workspace' folder to setup ros workspace"
+  elif [ "$use_docker" == true ] && [[ "$2" == *"-"* ]]; then
+    print_and_exit "Workspace names for docker cannot contain \"-\"."
+  fi
+
+  # Todo Manuel make this more generic
+  if [ "$use_docker" == true ]; then
+    if [ "$ros_distro" == "rolling" ]; then
+      echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}'$ros_distro' is currently supported on multiple versions of Ubuntu. Which version of ubuntu would you like to choose:"
+      select ubuntu_version in Ubuntu_20_04 Ubuntu_22_04;
+      do
+        case "$ubuntu_version" in
+              Ubuntu_20_04)
+                  ubuntu_version="ubuntu:20.04"
+                  ubuntu_version_tag="ubuntu_20_04"
+                  break
+                ;;
+              Ubuntu_22_04)
+                  ubuntu_version="ubuntu:22.04"
+                  ubuntu_version_tag="ubuntu_22_04"
+                  break
+                ;;
+        esac
+      done
+      echo -n -e "${TERMINAL_COLOR_NC}"
+    else
+      ubuntu_version="ubuntu:20.04"
+      ubuntu_version_tag="ubuntu_20_04"
+    fi
+  fi
+
+  ros_ws_prefix="$3"
+  if [ -z "$3" ]; then
+    ros_ws_prefix="-"
+    echo "No ros_ws_prefix used..."
+  fi
+
+  ros_ws_suffix="$4"
+  if [ -z "$4" ]; then
+    ros_ws_suffix="-"
+    echo "No ros_ws_suffix used..."
+  fi
+}
+
+setup_new_workspace () {
+  ros_distro_base_workspace_source_path="/opt/ros/$ros_distro/setup.bash"
+
+#   # TODO: Write this automatically from the user's definitions
+#   echo "Please choose which workspace should be basis for yours:"
+#   echo "(0) <Use current sourced workspace> (or if non sourced, source '${ros_distro_base_workspace_source_path}')"
+#   read choice
+
+  # TODO(destogl): This is only temporarily solution until we offer different base-workspaces support (above commented lines)
+  choice="0"
+  echo -e "${RTW_COLOR_NOTIFY_USER} The new workspace will base on currently sourced workspace or if none is sourced, '${ros_distro_base_workspace_source_path}' will be sourced."
+
+  if [ -z "$choice" ]; then
+    print_and_exit "No workspace is chosen!" "$usage"
+  fi
+
+  case "$choice" in
+  # "1")
+  #    base_ws=Industrial
+  #    ;;
+  # "2")
+  #    base_ws=Mobile
+  #    ;;
+  "0")
+    base_ws="<current>"
+    ;;
+  *)
+    print_and_exit "No workspace chosen! Exiting..."
+  esac
+
+  base_ws_path=""
+
+  if [ -z "$ROS_DISTRO" ]; then
+    echo -e "${TERMINAL_COLOR_YELLOW}No workspace is sourced, sourcing: '${ros_distro_base_workspace_source_path}'${TERMINAL_COLOR_NC}"
+    source ${ros_distro_base_workspace_source_path}
+    base_ws_path="${ros_distro_base_workspace_source_path}"
+  fi
+
+  # Form here the full name
+  ws_full_name=${ros_distro}
+
+  if [ "$ros_ws_prefix" != "-" ]; then
+    ws_full_name=${ros_ws_prefix}_${ws_full_name}
+  fi
+  if [ "$ros_ws_suffix" != "-" ]; then
+    ws_full_name=${ws_full_name}_${ros_ws_suffix}
+  fi
+
+  # TODO: Add here output of the <current> WS
+  echo ""
+  echo -e "${TERMINAL_COLOR_USER_NOTICE}ATTENTION: Creating a new workspace in folder '${ws_folder}' for ROS '${ros_distro}' (ROS$ros_version) with suffix '${ros_ws_suffix}' (full path: '${ws_folder}/${ws_full_name}') using '${base_ws}' (${base_ws_path}) as base workspace.${TERMINAL_COLOR_NC}"
+  echo ""
+  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name.${TERMINAL_COLOR_NC}"
+  read
+
+  # TODO(destogl): This part with base workspaces should be updated!!! - this is obsolete logic
+  # Create and initialise ROS-Workspace
+  if [[ ${base_ws} != "<current>" ]]; then
+    if [[ $ros_version == 1 ]]; then
+      source $FRAMEWORK_BASE_PATH/${base_ws}_ros_ws_${ros_distro}/devel/setup.bash
+    else
+      source $FRAMEWORK_BASE_PATH/${base_ws}_ros_ws_${ros_distro}/install/setup.bash
+    fi
+  fi
+
+  mkdir -p ~/${ws_folder}/${ws_full_name}
+  cd ~/${ws_folder}/${ws_full_name} || { print_and_exit "Could not change dir to workspace folder. Something went wrong."; }
+
+  if [ "$use_docker" = false ]; then # only build if not in docker, to avoide wrong dependencies
+    if [[ $ros_version == 1 ]]; then
+      wstool init src
+      catkin config -DCMAKE_BUILD_TYPE=RelwithDebInfo
+      catkin build
+    elif [[ $ros_version == 2 ]]; then
+      mkdir src
+    #   cb
+      colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+    fi
+  fi
+
+  # Go to Home folder of the user
+  cd || print_and_exit "Could not change back to home dir. This should never happen..."
+}
+
+setup_ros_team_ws_file() {
+  if [ -z "$1" ]; then
+    print_and_exit "No ros_team_ws_file given. Cannot setup workspace defines."
+  fi
+  local ros_team_ws_file=$1
+  if [ -z "$2" ]; then
+    print_and_exit "Not specified if docker should be used. Cannot setup workspace defines."
+  fi
+  local use_docker=$2
+    if [ -z "$2" ]; then
+    print_and_exit "Not specified if ros_teamws_file is for docker. Cannot setup workspace defines."
+  fi
+  local is_docker_rtw_file=$3
+
+  # Create a function name
+  fun_name_suffix=${chosen_ros_distro}
+
+  if [ "$ros_ws_prefix" != "-" ]; then
+    fun_name_suffix=${fun_name_suffix}_${ros_ws_prefix}
+  fi
+  if [ "$ros_ws_suffix" != "-" ]; then
+    fun_name_suffix=${fun_name_suffix}_${ros_ws_suffix}
+  fi
+
+  alias_name=_${ws_full_name}
+  fun_name="RosTeamWS_setup_${fun_name_suffix}"
+
+  cp "$ros_team_ws_file" "$ros_team_ws_file".bkp
+  # Comment out the old configuration if such exists - this is hard if using functions...
+  sed -i -e '/'"$fun_name"'/ s/^#*/OLD_/' "$ros_team_ws_file"
+  sed -i -e '/alias st_ros'"$ros_version=$fun_name"'/ s/^#*/#/' "$ros_team_ws_file"
+
+  if [ "$use_docker" = true ]; then
+    docker_image_tag=$(sed "s/[\/]/-/g" <(echo "ros-team-ws_${ubuntu_version_tag}__${ws_folder}__${ws_full_name}"))
+    docker_host_name="rtw-${ws_full_name}-docker"
+  else
+    docker_image_tag="-"
+    docker_host_name="-"
+  fi
+
+  local docker_support="$use_docker"
+  if [ "$is_docker_rtw_file" = true ]; then
+    source_path_rtw="  source /opt/RosTeamWS/ros_ws_$chosen_ros_distro/src/ros_team_workspace/scripts/environment/setup.bash \"\$RosTeamWS_DISTRO\" \"\$RosTeamWS_WS_FOLDER\" \"\$RosTeamWS_WS_PREFIX\" \"\$RosTeamWS_WS_SUFFIX\""
+    docker_support=false # don't use docker in docker
+  else
+    source_path_rtw="  source $FRAMEWORK_BASE_PATH/ros_ws_\"\$RosTeamWS_DISTRO\"/src/$FRAMEWORK_NAME/scripts/environment/setup.bash \"\$RosTeamWS_DISTRO\" \"\$RosTeamWS_WS_FOLDER\" \"\$RosTeamWS_WS_PREFIX\" \"\$RosTeamWS_WS_SUFFIX\""
+  fi
+
+  echo "" >> "$ros_team_ws_file"
+  echo "$fun_name () {" >> "$ros_team_ws_file"
+  echo "  RosTeamWS_BASE_WS=\"${base_ws}\"" >> "$ros_team_ws_file"
+
+  echo "  RosTeamWS_DISTRO=\"${chosen_ros_distro}\"" >> "$ros_team_ws_file"
+  echo "  RosTeamWS_WS_FOLDER=\"${ws_folder}\"" >> "$ros_team_ws_file"
+  echo "  RosTeamWS_WS_PREFIX=\"${ros_ws_prefix}\"" >> "$ros_team_ws_file"
+  echo "  RosTeamWS_WS_SUFFIX=\"${ros_ws_suffix}\"" >> "$ros_team_ws_file"
+  echo "  RosTeamWS_WS_DOCKER_SUPPORT=\"${docker_support}\"" >> "$ros_team_ws_file"
+  echo "  RosTeamWS_DOCKER_TAG=\"${docker_image_tag}\"" >> "$ros_team_ws_file"
+  echo "$source_path_rtw" >> "$ros_team_ws_file"
+  echo "}" >> "$ros_team_ws_file"
+  echo "alias $alias_name=$fun_name" >> "$ros_team_ws_file"
+
+}
+
+update_config()
+{
+  local rtw_file=~/.ros_team_ws_rc
+
+  setup_ros_team_ws_file "$rtw_file" "$use_docker" "$is_docker_rtw_file"
+
+  # source new workspace
+  source "$rtw_file"
+
+  # Update rosdep definitions
+  rosdep update
 
-# Load Framework defines
-script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
-source $script_own_dir/_RosTeamWs_Defines.bash
-
-# ros distribution name will be set in ${ros_distro}
-check_ros_distro $1
-
-ws_folder="$2"
-if [ -z "$2" ]; then
-  ws_folder="workspace"
-  echo "Using default '~/workspace' folder to setup ros workspace"
-fi
-
-ros_ws_prefix="$3"
-if [ -z "$3" ]; then
-  ros_ws_prefix="-"
-  echo "No ros_ws_prefix used..."
-fi
-
-ros_ws_suffix="$4"
-if [ -z "$4" ]; then
-  ros_ws_suffix="-"
-  echo "No ros_ws_suffix used..."
-fi
-
-# TODO: Write this automatically from the user's definitions
-echo "Please choose which workspace should be basis for yours:"
-echo "(0) <Use current sourced workspace>"
-read choice
-
-if [ -z "$choice" ]; then
-  print_and_exit "No workspace is chosen!" "$usage"
-fi
-
-case "$choice" in
-# "1")
-#    base_ws=Industrial
-#    ;;
-# "2")
-#    base_ws=Mobile
-#    ;;
-"0")
-   base_ws="<current>"
-   ;;
-*)
-  echo "No workspace chosen! Exiting..."
-  exit
-esac
-
-# Form here the full name
-ws_full_name=${ros_distro}
-
-if [ "$ros_ws_prefix" != "-" ]; then
-  ws_full_name=${ros_ws_prefix}_${ws_full_name}
-fi
-if [ "$ros_ws_suffix" != "-" ]; then
-  ws_full_name=${ws_full_name}_${ros_ws_suffix}
-fi
-
-# TODO: Add here output of the <current> WS
-echo ""
-read -p "ATTENTION: Creating a new workspace in folder '${ws_folder}' for ROS '${ros_distro}' (ROS$ros_version) with suffix '${ros_ws_suffix}' (full path: '${ws_folder}/${ws_full_name}') using '${base_ws}' as base workspace. Press <ENTER> to continue..."
-
-# Create and initialise ROS-Workspace
-if [[ ${base_ws} != "<current>" ]]; then
   if [[ $ros_version == 1 ]]; then
-    source $FRAMEWORK_BASE_PATH/${base_ws}_ros_ws_${ros_distro}/devel/setup.bash
+    rospack profile
+  fi
+}
+
+setup_docker_files () {
+  echo "Not implemented"
+}
+
+# workspace folder is relative to your home
+create_workspace () {
+  local usage="setup-ros-workspace.bash create_workspace ROS_DISTRO WS_FOLDER WS_PREFIX WS_SUFFIX"
+  local use_docker=false
+
+  check_user_input "$@"
+  local chosen_ros_distro=$ros_distro
+  setup_new_workspace
+
+  local is_docker_rtw_file=false
+  update_config
+
+  echo -e "${RTW_COLOR_NOTIFY_USER}Finished creating new workspace: Please open a new terminal and execute '$alias_name'${TERMINAL_COLOR_NC}"
+}
+
+create_workspace_docker () {
+  local usage="setup-ros-workspace.bash create_workspace_docker ROS_DISTRO WS_FOLDER WS_PREFIX WS_SUFFIX"
+  local use_docker=true
+
+  # create new workspace locally
+  check_user_input "$@"
+  local chosen_ros_distro=$ros_distro # need to store, ros_distro gets overwritten while creating workspace...
+  setup_new_workspace
+
+  # TODO(destogl): we should remove updating of configs if docker is used - can we do this already?
+  local is_docker_rtw_file=false
+  update_config
+
+  ############################################################################
+  # DOCKER PART: create corresponding docker image and map worksapce and rtw #
+  ############################################################################
+
+  # first get name for creating correct ros distro in docker
+  local docker_ros_distro_name
+  if [[ -v "map_to_docker_ros_distro_name[$chosen_ros_distro]" ]];then
+    docker_ros_distro_name=${map_to_docker_ros_distro_name["$chosen_ros_distro"]}
+  else
+    print_and_exit "For $chosen_ros_distro does no docker container exist."
+  fi
+  local rtw_branch_for_ros_distro
+  if [[ -v "ros_distro_to_rtw_branch[$docker_ros_distro_name]" ]];then
+    rtw_branch_for_ros_distro=${ros_distro_to_rtw_branch["$docker_ros_distro_name"]}
   else
-    source $FRAMEWORK_BASE_PATH/${base_ws}_ros_ws_${ros_distro}/install/setup.bash
-  fi
-fi
-
-mkdir -p ~/${ws_folder}/${ws_full_name}
-cd ~/${ws_folder}/${ws_full_name}
-
-if [[ $ros_version == 1 ]]; then
-  wstool init src
-  catkin config -DCMAKE_BUILD_TYPE=RelwithDebInfo
-  catkin build
-elif [[ $ros_version == 2 ]]; then
-  mkdir src
-#   cb
-  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
-fi
-
-# Go to Home folder of the user
-cd
-
-# Create a function name
-fun_name_suffix=${ros_distro}
-
-if [ "$ros_ws_prefix" != "-" ]; then
-  fun_name_suffix=${fun_name_suffix}_${ros_ws_prefix}
-fi
-if [ "$ros_ws_suffix" != "-" ]; then
-  fun_name_suffix=${fun_name_suffix}_${ros_ws_suffix}
-fi
-
-alias_name=_${ws_full_name}
-fun_name="RosTeamWS_setup_${fun_name_suffix}"
-
-cp ~/.ros_team_ws_rc ~/.ros_team_ws_rc.bkp
-# Comment out the old configuration is such exists - this is hard if using functions...
-sed -i -e '/'"$fun_name"'/ s/^#*/OLD_/' ~/.ros_team_ws_rc
-sed -i -e '/alias st_ros'"$ros_version=$fun_name"'/ s/^#*/#/' ~/.ros_team_ws_rc
-
-echo "" >> ~/.ros_team_ws_rc
-echo "$fun_name () {" >> ~/.ros_team_ws_rc
-echo "  RosTeamWS_BASE_WS=\"${base_ws}\"" >> ~/.ros_team_ws_rc
-echo "  RosTeamWS_DISTRO=\"${ros_distro}\"" >> ~/.ros_team_ws_rc
-echo "  RosTeamWS_WS_FOLDER=\"${ws_folder}\"" >> ~/.ros_team_ws_rc
-echo "  RosTeamWS_WS_PREFIX=\"${ros_ws_prefix}\"" >> ~/.ros_team_ws_rc
-echo "  RosTeamWS_WS_SUFFIX=\"${ros_ws_suffix}\"" >> ~/.ros_team_ws_rc
-echo "  source $FRAMEWORK_BASE_PATH/ros_ws_\"\$RosTeamWS_DISTRO\"/src/$FRAMEWORK_NAME/scripts/environment/setup.bash \"\$RosTeamWS_DISTRO\" \"\$RosTeamWS_WS_FOLDER"\" \"\$RosTeamWS_WS_PREFIX\" \"\$RosTeamWS_WS_SUFFIX\" >> ~/.ros_team_ws_rc
-echo "}" >> ~/.ros_team_ws_rc
-echo "alias $alias_name=$fun_name" >> ~/.ros_team_ws_rc
-
-# Setup new workspace
-source ~/.ros_team_ws_rc
-
-# Update rosdep definitions
-rosdep update
-
-if [[ $ros_version == 1 ]]; then
-  rospack profile
-fi
-
-echo "------------------------------------------------------"
-echo "Finished: Please open a new terminal and execute '$alias_name'"
+    print_and_exit "For $docker_ros_distro_name does no RosTeamWorkspace branch exist."
+  fi
+
+  # setup Dockerfile bashrc and .ros_team_ws_rc
+  # and copy needed files to workspace dir
+  ws_docker_folder="${ws_folder}/${ws_full_name}/.rtw_docker_defines"
+  mkdir -p "$ws_docker_folder"
+
+  # setup .bashrc
+  cp "$DOCKER_TEMPLATES/bashrc" "$ws_docker_folder/."
+  # add the name of the workspace folder in docker, so that it can be inited in bashrc the first time used.
+  local docker_ws_folder
+  docker_ws_folder="${ws_folder}/${ws_full_name}"
+  sed -i "s|DUMMY_WS_FOLDER|${docker_ws_folder}|g" "$ws_docker_folder/bashrc"
+  echo "" >> "$ws_docker_folder/bashrc"
+  echo "$alias_name" >> "$ws_docker_folder/bashrc"
+
+  # setup Dockerfile: set correct docker version
+  cp "$DOCKER_TEMPLATES/Dockerfile" "$ws_docker_folder/."
+  sed -i "s/UBUNTU_DUMMY_VERSION/${ubuntu_version}/g" "$ws_docker_folder/Dockerfile"
+  sed -i "s/ROS_DUMMY_VERSION/${docker_ros_distro_name}/g" "$ws_docker_folder/Dockerfile"
+  sed -i "s/ROS_TEAM_WS_DUMMY_BRANCH/${rtw_branch_for_ros_distro}/g" "$ws_docker_folder/Dockerfile"
+
+  # setup ros_team_ws
+  cp "$DOCKER_TEMPLATES/ros_team_ws_rc_docker" "$ws_docker_folder/."
+  # make copied .ros_team_ws match to source
+  local rtw_file="$ws_docker_folder/ros_team_ws_rc_docker"
+  sed -i "s/ROS_DUMMY_VERSION/${chosen_ros_distro}/g" "$rtw_file"
+  setup_ros_team_ws_file "$rtw_file" "$use_docker" "true"
+
+  # copy file for recreating docker
+  cp "$DOCKER_TEMPLATES/recreate_docker.sh" "$ws_docker_folder/."
+  sed -i "s/DUMMY_DOCKER_IMAGE_TAG/${docker_image_tag}/g" "$ws_docker_folder/recreate_docker.sh"
+  sed -i "s/DUMMY_DOCKER_HOSTNAME/${docker_host_name}/g" "$ws_docker_folder/recreate_docker.sh"
+  sed -i "s|DUMMY_WS_FOLDER|${docker_ws_folder}|g" "$ws_docker_folder/recreate_docker.sh"
+
+  # now we are all set for building the container
+  build_docker_image "$docker_image_tag" "$ws_docker_folder/Dockerfile" || { print_and_exit "Build of docker container failed."; }
+
+  echo ""
+  echo "######################################################################################################################"
+  echo -e "${RTW_COLOR_NOTIFY_USER}Finished creating new workspace with docker support: Going to switch to docker. Next time simply run '$alias_name'${TERMINAL_COLOR_NC}"
+  echo "######################################################################################################################"
+  sleep 2 # give user time to read above message before switching to docker container
+
+  create_docker_container "$docker_image_tag" "${docker_ws_folder}" "$chosen_ros_distro" "$docker_host_name"
+}
diff --git a/setup.bash b/setup.bash
index 13563c2b..2e6d649e 100644
--- a/setup.bash
+++ b/setup.bash
@@ -1,11 +1,13 @@
-script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
-FRAMEWORK_BASE_PATH=$script_own_dir
+setup_script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
 
 # Load RosTeamWS defines
-source $script_own_dir/scripts/_RosTeamWs_Defines.bash
+source $setup_script_own_dir/scripts/_RosTeamWs_Defines.bash
 
 # Load Team defines
-source $script_own_dir/scripts/_Team_Defines.bash
+source $setup_script_own_dir/scripts/_Team_Defines.bash
+
+# Load Docker defines
+source $setup_script_own_dir/scripts/_RosTeamWs_Docker_Defines.bash
 
 # Set main path where source.bash is defined
 RosTeamWS_FRAMEWORK_MAIN_PATH="$(RosTeamWS_script_own_dir)/../"
diff --git a/templates/.ros_team_ws_rc b/templates/.ros_team_ws_rc
index 35ab17fc..dfa12685 100644
--- a/templates/.ros_team_ws_rc
+++ b/templates/.ros_team_ws_rc
@@ -1,7 +1,16 @@
 #!/bin/bash
 
 # RosTeamWS - main setup
-source <PATH TO ros_team_workspace>/setup.bash
+DEFAULT_ROS_DISTRO="rolling"
+DEFAULT_ROS_VERSION=2
+
+TEAM_LICENSE="Apache License 2.0"
+
+TEAM_REPOSITORY_SERVER="https://github.com"
+
+TEAM_PRIVATE_CONFIG_PATH=""
+
+source <Path to ros_team_workspace>/setup.bash
 
 # User specific setup / variables
 
diff --git a/templates/docker/Dockerfile b/templates/docker/Dockerfile
new file mode 100644
index 00000000..524f8784
--- /dev/null
+++ b/templates/docker/Dockerfile
@@ -0,0 +1,66 @@
+FROM UBUNTU_DUMMY_VERSION
+
+#Arguments maybe add defaults?
+ARG user
+ARG uid
+ARG gid
+ARG home
+
+# make bash default
+SHELL ["/bin/bash", "-c"]
+
+# upgrade to newest version
+RUN apt-get update -y && apt-get -y dist-upgrade
+
+# install locales
+RUN apt-get update -y && apt-get install -y locales
+
+# Configure user env
+ENV TZ=Europe/Berlin
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Set the locale to include UTF-8. UTF-8 compatible locales are needed for install
+RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
+    locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Make sure UTF-8 is supported
+RUN locale
+
+# Install basic utilities
+RUN apt-get -y update && apt-get -y install git nano sudo tmux tree vim iputils-ping
+
+# install ROS2:ROS_DUMMY_VERSION dependencies
+RUN apt-get install -y curl gnupg gnupg2 lsb-release software-properties-common && apt-add-repository universe
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# install ROS2:ROS_DUMMY_VERSION and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
+RUN apt-get update -y && DEBIAN_FRONTEND=noniteractive apt-get install -y ros-ROS_DUMMY_VERSION-desktop pip python3-colcon-common-extensions
+RUN pip install -U rosdep && \
+    rosdep init
+
+# setup ros_team_ws
+RUN git clone -b ROS_TEAM_WS_DUMMY_BRANCH https://github.com/StoglRobotics/ros_team_workspace.git /opt/RosTeamWS/ros_ws_ROS_DUMMY_VERSION/src/ros_team_workspace/
+
+# setup standard .bashrc
+COPY bashrc ${home}/.bashrc
+COPY ros_team_ws_rc_docker ${home}/.ros_team_ws_rc
+
+# clone user into docker image, add to sudo users needed for xsharing
+# the passwd delete is needed to update /etc/shadow otherwise user cannot use sudo
+RUN mkdir -p ${home} && \
+  echo "${user}:x:${uid}:${gid}:${user},,,:${home}:/bin/bash" >> /etc/passwd && \
+  echo "${user}:x:${uid}:" >> /etc/group && \
+  echo "${user} ALL=(ALL) NOPASSWD: ALL" > "/etc/sudoers.d/${user}" && \
+  chmod 0440 "/etc/sudoers.d/${user}" && \
+  usermod -aG sudo ${user} && \
+  passwd -d ${user} && \
+  mkdir ${home}/workspace && \
+  chown ${uid}:${gid} -R ${home}
+
+#switch to user
+USER ${user}
+WORKDIR ${home}
diff --git a/templates/docker/bashrc b/templates/docker/bashrc
new file mode 100644
index 00000000..e3f2627b
--- /dev/null
+++ b/templates/docker/bashrc
@@ -0,0 +1,196 @@
+# ~/.bashrc: executed by bash(1) for non-login shells.
+# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
+# for examples
+
+# If not running interactively, don't do anything
+[ -z "$PS1" ] && return
+
+# don't put duplicate lines in the history. See bash(1) for more options
+# ... or force ignoredups and ignorespace
+HISTCONTROL=ignoredups:ignorespace
+
+# append to the history file, don't overwrite it
+shopt -s histappend
+
+# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
+HISTSIZE=1000
+HISTFILESIZE=2000
+
+# check the window size after each command and, if necessary,
+# update the values of LINES and COLUMNS.
+shopt -s checkwinsize
+
+# make less more friendly for non-text input files, see lesspipe(1)
+[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"
+
+# set variable identifying the chroot you work in (used in the prompt below)
+if [ -z "$debian_chroot" ] && [ -r /etc/debian_chroot ]; then
+    debian_chroot=$(cat /etc/debian_chroot)
+fi
+
+# set a fancy prompt (non-color, unless we know we "want" color)
+case "$TERM" in
+    xterm-color) color_prompt=yes;;
+esac
+
+# uncomment for a colored prompt, if the terminal has the capability; turned
+# off by default to not distract the user: the focus in a terminal window
+# should be on the output of commands, not on the prompt
+#force_color_prompt=yes
+
+if [ -n "$force_color_prompt" ]; then
+    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
+	# We have color support; assume it's compliant with Ecma-48
+	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
+	# a case would tend to support setf rather than setaf.)
+	color_prompt=yes
+    else
+	color_prompt=
+    fi
+fi
+
+if [ "$color_prompt" = yes ]; then
+    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
+else
+    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
+fi
+unset color_prompt force_color_prompt
+
+# If this is an xterm set the title to user@host:dir
+case "$TERM" in
+xterm*|rxvt*)
+    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
+    ;;
+*)
+    ;;
+esac
+
+
+# BEGIN: Stogl Robotics custom setup for nice colors and showing ROS workspace
+
+# Check this out: https://www.shellhacks.com/bash-colors/
+export TERMINAL_COLOR_NC='\e[0m' # No Color
+export TERMINAL_COLOR_BLACK='\e[0;30m'
+export TERMINAL_COLOR_GRAY='\e[1;30m'
+export TERMINAL_COLOR_RED='\e[0;31m'
+export TERMINAL_COLOR_LIGHT_RED='\e[1;31m'
+export TERMINAL_COLOR_GREEN='\e[0;32m'
+export TERMINAL_COLOR_LIGHT_GREEN='\e[1;32m'
+export TERMINAL_COLOR_BROWN='\e[0;33m'
+export TERMINAL_COLOR_YELLOW='\e[1;33m'
+export TERMINAL_COLOR_BLUE='\e[0;34m'
+export TERMINAL_COLOR_LIGHT_BLUE='\e[1;34m'
+export TERMINAL_COLOR_PURPLE='\e[0;35m'
+export TERMINAL_COLOR_LIGHT_PURPLE='\e[1;35m'
+export TERMINAL_COLOR_CYAN='\e[0;36m'
+export TERMINAL_COLOR_LIGHT_CYAN='\e[1;36m'
+export TERMINAL_COLOR_LIGHT_GRAY='\e[0;37m'
+export TERMINAL_COLOR_WHITE='\e[1;37m'
+
+export TERMINAL_BG_COLOR_BLACK='\e[40m'
+export TERMINAL_BG_COLOR_GRAY='\e[1;40m'
+export TERMINAL_BG_COLOR_RED='\e[41m'
+export TERMINAL_BG_COLOR_LIGHT_RED='\e[1;41m'
+export TERMINAL_BG_COLOR_GREEN='\e[42m'
+export TERMINAL_BG_COLOR_LIGHT_GREEN='\e[1;42m'
+export TERMINAL_BG_COLOR_BROWN='\e[43m'
+export TERMINAL_BG_COLOR_YELLOW='\e[1;43m'
+export TERMINAL_BG_COLOR_BLUE='\e[44m'
+export TERMINAL_BG_COLOR_LIGHT_BLUE='\e[1;44m'
+export TERMINAL_BG_COLOR_PURPLE='\e[45m'
+export TERMINAL_BG_COLOR_LIGHT_PURPLE='\e[1;45m'
+export TERMINAL_BG_COLOR_CYAN='\e[46m'
+export TERMINAL_BG_COLOR_LIGHT_CYAN='\e[1;46m'
+export TERMINAL_BG_COLOR_LIGHT_GRAY='\e[47m'
+export TERMINAL_BG_COLOR_WHITE='\e[1;47m'
+
+if [ -n "$SSH_CLIENT" ]; then text="-ssh-session"
+fi
+
+function parse_vc_branch_and_add_brackets {
+  gitbranch=`git branch --no-color 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/\1/'`
+
+  if [[ "$gitbranch" != '' ]]; then
+    echo "<${gitbranch}"
+#   else
+#     echo "<no-git-branch"
+  fi
+}
+
+function set_ros_workspace_color {
+  if [[ -n ${ROS_WS} ]]; then
+
+    if [[ $PWD == *"${ROS_WS}"* ]]; then
+      color=${TERMINAL_COLOR_CYAN}
+    else
+      color=${TERMINAL_BG_COLOR_RED}
+    fi
+
+    echo -e "${color}"
+  fi
+}
+
+function parse_ros_workspace {
+  if [[ -n ${ROS_WS} ]]; then
+
+    echo "[${ROS_WS##*/}]"
+  fi
+}
+
+export PS1="\[${TERMINAL_COLOR_LIGHT_GRAY}\]"'[\t]\['"\[${TERMINAL_COLOR_LIGHT_GREEN}\]"'\u\['"\[${TERMINAL_COLOR_LIGHT_GRAY}\]"'@\['"\[${TERMINAL_COLOR_BROWN}\]"'\h\['"\[${TERMINAL_COLOR_YELLOW}\]"'${text}\['"\[${TERMINAL_COLOR_LIGHT_GRAY}\]"':'"\["'$(set_ros_workspace_color)'"\]"'$(parse_ros_workspace)\['"\[${TERMINAL_COLOR_GREEN}\]"'$(parse_vc_branch_and_add_brackets)>\['"\[${TERMINAL_COLOR_LIGHT_PURPLE}\]"'\W\['"\[${TERMINAL_COLOR_LIGHT_PURPLE}\]"'$\['"\[${TERMINAL_COLOR_NC}\]"'\[\e[m\] '
+
+# END: Stogl Robotics custom setup for nice colors and showing ROS workspace
+
+
+# enable color support of ls and also add handy aliases
+if [ -x /usr/bin/dircolors ]; then
+    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
+    alias ls='ls --color=auto'
+    #alias dir='dir --color=auto'
+    #alias vdir='vdir --color=auto'
+
+    alias grep='grep --color=auto'
+    alias fgrep='fgrep --color=auto'
+    alias egrep='egrep --color=auto'
+fi
+
+# some more ls aliases
+alias ll='ls -alF'
+alias la='ls -A'
+alias l='ls -CF'
+
+# Add an "alert" alias for long running commands.  Use like so:
+#   sleep 10; alert
+alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'
+
+# Alias definitions.
+# You may want to put all your additions into a separate file like
+# ~/.bash_aliases, instead of adding them here directly.
+# See /usr/share/doc/bash-doc/examples in the bash-doc package.
+
+if [ -f ~/.bash_aliases ]; then
+    . ~/.bash_aliases
+fi
+
+# enable programmable completion features (you don't need to enable
+# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
+# sources /etc/bash.bashrc).
+if [ -f /etc/bash_completion ] && ! shopt -oq posix; then
+    . /etc/bash_completion
+fi
+
+ws_inited_check_file=~/.rtw_ws_inited
+ws_folder=DUMMY_WS_FOLDER
+if [ ! -e "$ws_inited_check_file" ] && [ ! -d "$HOME/$ws_folder/src" ]; then
+    touch "$ws_inited_check_file"
+    cd "$HOME/$ws_folder" || { echo "Could not init workspace $ws_folder. You have to init the workspace yourself."; return 1;}
+    mkdir src
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+    rosdep update
+    cd ~/
+fi
+
+# source ros_team_ws_rc automatically
+if [ -f ~/.ros_team_ws_rc ]; then
+    . ~/.ros_team_ws_rc
+fi
diff --git a/templates/docker/recreate_docker.sh b/templates/docker/recreate_docker.sh
new file mode 100755
index 00000000..3dba2e4e
--- /dev/null
+++ b/templates/docker/recreate_docker.sh
@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+build_docker_image () {
+    docker build \
+  --build-arg user=$USER \
+  --build-arg uid=$UID \
+  --build-arg gid=$GROUPS \
+  --build-arg home=$HOME \
+  -t DUMMY_DOCKER_IMAGE_TAG .
+}
+
+create_docker_container () {
+  xhost +local:docker
+  docker run \
+  --net=host \
+  -h DUMMY_DOCKER_HOSTNAME \
+  -e DISPLAY \
+  --tmpfs /tmp \
+  -v /tmp/.X11-unix/:/tmp/.X11-unix:rw \
+  -v "$HOME/DUMMY_WS_FOLDER":"$HOME/$DUMMY_WS_FOLDER":rw \
+  -v "$HOME/.ssh":"$HOME/.ssh":ro \
+  --name DUMMY_DOCKER_IMAGE_TAG-instance \
+  -it DUMMY_DOCKER_IMAGE_TAG /bin/bash
+}
+
+build_docker_image
+create_docker_container
diff --git a/templates/docker/ros_team_ws_rc_docker b/templates/docker/ros_team_ws_rc_docker
new file mode 100644
index 00000000..3db26112
--- /dev/null
+++ b/templates/docker/ros_team_ws_rc_docker
@@ -0,0 +1,30 @@
+#!/bin/bash
+
+# This is used for docker, to include ros_team_workspace inside docker and auto source it.
+
+# RosTeamWS - main setup
+DEFAULT_ROS_DISTRO="ROS_DUMMY_VERSION"
+DEFAULT_ROS_VERSION=2
+
+TEAM_LICENSE="Apache License 2.0"
+
+TEAM_REPOSITORY_SERVER="https://github.com"
+
+TEAM_PRIVATE_CONFIG_PATH=""
+
+# ros_team_workspace is always at same location inside docker.
+source /opt/RosTeamWS/ros_ws_ROS_DUMMY_VERSION/src/ros_team_workspace/setup.bash
+
+# User specific setup / variables
+
+#export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>ADD_HERE_INTERFACE_NAME</NetworkInterfaceAddress></General></Domain></CycloneDDS>'
+
+export ROS_DOMAIN_ID=46  # Set your Domain ID if you are in a network with multiple computers
+
+# Logging setup
+# export RCUTILS_LOGGING_CONFIG_FILE="/home/deniss/workspace/ros2_logging_config"
+#export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"  # Custom logging format
+export RCUTILS_COLORIZED_OUTPUT=1
+#export RCUTILS_LOGGING_USE_STDOUT=1  # force all logging output to stdout
+
+# WORKSPACES