diff --git a/README.md b/README.md
index 477a063..7d82234 100644
--- a/README.md
+++ b/README.md
@@ -66,3 +66,8 @@ Or you can use a runner to execute the experiments multiple times (check SUAVE r
 ```bash
 ./rosa_runner.sh true rosa time 20
 ```
+
+build:
+```
+docker build --ssh default -t suave_rosa -f docker/Dockerfile .
+```
diff --git a/docker/Dockerfile b/docker/Dockerfile
index c9f5817..e18fb9b 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -12,18 +12,12 @@ COPY --chown=kasm-user:kasm-user docker/install_typedb.sh $HOME/suave_ws/src/sua
 WORKDIR $HOME/suave_ws/src/suave_rosa/docker/
 RUN ["/bin/bash", "-c", "./install_typedb.sh"]
 
-COPY --chown=kasm-user:kasm-user ./bts/ $HOME/suave_ws/src/suave_rosa/bts/
-COPY --chown=kasm-user:kasm-user ./cmake/ $HOME/suave_ws/src/suave_rosa/cmake/
-COPY --chown=kasm-user:kasm-user ./config/ $HOME/suave_ws/src/suave_rosa/config/
-COPY --chown=kasm-user:kasm-user ./include/ $HOME/suave_ws/src/suave_rosa/include/
-COPY --chown=kasm-user:kasm-user ./launch/ $HOME/suave_ws/src/suave_rosa/launch/
-COPY --chown=kasm-user:kasm-user ./src/ $HOME/suave_ws/src/suave_rosa/src/
-COPY --chown=kasm-user:kasm-user CMakeLists.txt $HOME/suave_ws/src/suave_rosa/CMakeLists.txt
-COPY --chown=kasm-user:kasm-user package.xml $HOME/suave_ws/src/suave_rosa/package.xml
+COPY --chown=kasm-user:kasm-user suave_rosa/ $HOME/suave_ws/src/suave_rosa/
+COPY --chown=kasm-user:kasm-user suave_rosa_bt/ $HOME/suave_ws/src/suave_rosa_bt/
+COPY --chown=kasm-user:kasm-user suave_rosa_plansys/ $HOME/suave_ws/src/suave_rosa_plansys/
 COPY --chown=kasm-user:kasm-user suave_rosa.rosinstall $HOME/suave_ws/src/suave_rosa/suave_rosa.rosinstall
 
 WORKDIR $HOME/suave_ws
-# RUN --mount=type=ssh,uid=1000 git clone git@github.com:kas-lab/rosa.git
 RUN --mount=type=ssh,uid=1000 vcs import src < src/suave_rosa/suave_rosa.rosinstall --force
 
 
diff --git a/docker/install_typedb.sh b/docker/install_typedb.sh
index 73489d9..515be09 100755
--- a/docker/install_typedb.sh
+++ b/docker/install_typedb.sh
@@ -1,11 +1,11 @@
 #!/usr/bin/env bash
 
 sudo apt install software-properties-common apt-transport-https gpg
-gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 8F3DA4B5E9AEF44C
-gpg --export 8F3DA4B5E9AEF44C | sudo tee /etc/apt/trusted.gpg.d/vaticle.gpg > /dev/null
-echo "deb https://repo.vaticle.com/repository/apt/ trusty main" | sudo tee /etc/apt/sources.list.d/vaticle.list > /dev/null
+gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 17507562824cfdcc
+gpg --export 17507562824cfdcc | sudo tee /etc/apt/trusted.gpg.d/vaticle.gpg > /dev/null
+echo "deb https://repo.typedb.com/public/public-release/deb/ubuntu trusty main" | sudo tee /etc/apt/sources.list.d/vaticle.list > /dev/null
 
 sudo apt update
 sudo apt install openjdk-11-jre
-sudo apt install typedb-server=2.24.17 typedb-console=2.24.15 typedb-bin=2.24.16
-pip3 install typedb-driver==2.24.15
+sudo apt install typedb=2.27.0
+pip3 install typedb-driver==2.27.0
diff --git a/runner/rosa_conf_results_run.sh b/runner/rosa_conf_results_run.sh
index f87ca20..e703365 100644
--- a/runner/rosa_conf_results_run.sh
+++ b/runner/rosa_conf_results_run.sh
@@ -2,15 +2,19 @@
 
 MTYPE="time"
 GUI="false"
+RUNS=10
 
 MANAGER="rosa"
-./rosa_runner.sh $GUI $MANAGER $MTYPE 20
+./rosa_runner.sh $GUI $MANAGER $MTYPE $RUNS
 
 MANAGER="metacontrol"
-./rosa_runner.sh $GUI $MANAGER $MTYPE 20
+./rosa_runner.sh $GUI $MANAGER $MTYPE $RUNS
+
+MANAGER="bt"
+./rosa_runner.sh $GUI $MANAGER $MTYPE $RUNS
 
 MANAGER="none"
-./rosa_runner.sh $GUI $MANAGER $MTYPE 20
+./rosa_runner.sh $GUI $MANAGER $MTYPE $RUNS
 
-MANAGER="random"
-./rosa_runner.sh $GUI $MANAGER $MTYPE 20
+# MANAGER="random"
+# ./rosa_runner.sh $GUI $MANAGER $MTYPE $RUNS
diff --git a/runner/rosa_runner.sh b/runner/rosa_runner.sh
index 300f7e7..68f59cd 100644
--- a/runner/rosa_runner.sh
+++ b/runner/rosa_runner.sh
@@ -3,7 +3,7 @@
 if [ $# -lt 1 ]; then
 	echo "usage: $0 gui adaptation_manager mission_type runs"
 	echo example:
-	echo "  "$0 "[true | false] [metacontrol | random | none | rosa] [time | distance] runs(integer)"
+	echo "  "$0 "[true | false] [metacontrol | random | none | bt | rosa] [time | distance] runs(integer)"
 	exit 1
 fi
 
@@ -30,7 +30,7 @@ else
     exit 1
 fi
 
-if [ "$2" == "metacontrol" ] || [ "$2" == "random" ] || [ "$2" == "none" ] || [ "$2" == "rosa" ];
+if [ "$2" == "metacontrol" ] || [ "$2" == "random" ] || [ "$2" == "none" ] || [ "$2" == "bt" ] || [ "$2" == "rosa" ];
 then
     MANAGER=$2
 else
@@ -112,18 +112,18 @@ run_missions(){
       xfce4-terminal --execute ./scripts/launch_sim.sh $GUI &
       sleep 30 #let it boot up
 
-      rm -f ~/suave_ws/mission.done
+      rm -f /tmp/mission.done
       xfce4-terminal --execute ./scripts/launch_mission.sh $MANAGER $MTYPE $FILENAME &
       sleep 30 #let it boot up
 
       echo "start waiting for mission to finish"
       start_time=$SECONDS
-      while [ ! -f ~/suave_ws/mission.done ]
+      while [ ! -f /tmp/mission.done ]
       do
-          if [ -f ~/suave_ws/mission.done ]
+          if [ -f /tmp/mission.done ]
           then
               echo "mission done"
-              rm ~/suave_ws/mission.done
+              rm /tmp/mission.done
               break;
           fi
           current_time=$SECONDS
@@ -145,7 +145,7 @@ cd ~/ardupilot
 ./waf configure && make sub
 cd $CURDIR
 
-NOW=$(date +"%d_%m_%y_%H_%M_%S")
+NOW=$(date +"%y_%m_%d_%H_%M")
 MISSIONCONFIG=${NOW}"_mission_config.yaml"
 mkdir -p ~/suave/results
 cp ~/suave_ws/install/suave_missions/share/suave_missions/config/mission_config.yaml ~/suave/results/${MISSIONCONFIG}
diff --git a/runner/scripts/launch_mission.sh b/runner/scripts/launch_mission.sh
index fe11b15..dd69712 100644
--- a/runner/scripts/launch_mission.sh
+++ b/runner/scripts/launch_mission.sh
@@ -12,7 +12,7 @@ fi
 MANAGER=""
 MTYPE=""
 
-if [ "$1" == "metacontrol" ] || [ "$1" == "random" ] || [ "$1" == "none" ] || [ "$1" == "rosa" ];
+if [ "$1" == "metacontrol" ] || [ "$1" == "random" ] || [ "$1" == "none" ] || [ "$1" == "bt" ] || [ "$1" == "rosa" ];
 then
     MANAGER=$1
 else
@@ -33,14 +33,18 @@ else
     fi
 fi
 
-
+FILE=$3
+MCFILE=${FILE}"_mc_reasoning_time"
 if [ "$1" == "metacontrol" ] || [ "$1" == "random" ] || [ "$1" == "none" ];
 then
-    ros2 launch suave_missions mission.launch.py adaptation_manager:=$MANAGER mission_type:=$MTYPE result_filename:=$3
-elif  [ "$1" == "rosa" ]
+    ros2 launch suave_missions mission.launch.py adaptation_manager:=$MANAGER mission_type:=$MTYPE result_filename:=$FILE mc_reasoning_time_filename:=$MCFILE
+elif [ "$1" == "bt" ];
+then
+  ros2 launch suave_bt suave_bt.launch.py result_filename:=$3
+elif [ "$1" == "rosa" ]
 then
     xfce4-terminal --execute typedb server &
-    ros2 launch suave_rosa suave_rosa.launch.py mission_type:=$MTYPE result_filename:=$3
+    ros2 launch suave_rosa_bt suave_rosa_bt.launch.py mission_type:=$MTYPE result_filename:=$3
 else
     echo "adaptation_manager invalid or missing"
     exit 1