diff --git a/README.md b/README.md
index b4495249..48c48f93 100644
--- a/README.md
+++ b/README.md
@@ -23,26 +23,12 @@ As the project is still in early development, these requirements are subject to
 
 ## Installation
 
-To run the project you have to install [b5](https://github.com/team23/b5)
-and [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support,
+To run the project you have to install [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support,
 [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
-`b5` is used to simplify some of the docker commands and to provide a more user-friendly interface.
 `docker` and `nvidia-docker` are used to run the project in a containerized environment with GPU support.
 
-Afterwards, you can set up and execute the project with the following two commands:
-
-```bash
-# Setup project
-b5 install
-
-# Run project
-b5 run
-```
-
 More detailed instructions about setup and execution can be found [here](./doc/01_general/Readme.md).
 
-More available b5 commands are documented [here](./doc/01_general/03_commands.md).
-
 ## Development
 
 If you contribute to this project please read the guidelines first. They can be found [here](./doc/02_development/Readme.md).
diff --git a/build/Taskfile b/build/Taskfile
deleted file mode 100644
index c89e1133..00000000
--- a/build/Taskfile
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/usr/bin/env bash
-# b5 Taskfile, see https://git.team23.de/build/b5 for details
-
-##########################################
-# General commands
-##########################################
-
-task:shell() {
-    container="$1"
-    command="$2"
-    additionalArguments="${@:3}"
-    docker:container_run "${container:-agent}" "${command:-/bin/bash}" ${additionalArguments:-}
-}
-
-##########################################
-# Project setup / maintenance
-##########################################
-task:install() {
-    task:install:git_hooks
-    #task:gitconfig:copy
-    install:gpu-support
-    docker:install
-}
-
-install:gpu-support() {
-    # check if docker-nvidia is installed, to make the project also executable on
-    # systems without nvidia GPU.
-
-    if [ -z "$(command -v docker-nvidia)" ]
-    then
-      echo -e "Juhu! Alles ist richtig installiert für NVIDIA-Support! Hier ein Keks für dich :D"
-    else
-      RED='\033[0;31m'
-      NC='\033[0m'
-      echo -e "${RED}######################################################################################${NC}"
-      echo -e "${RED}WARNING: NVIDIA Container Toolkit not installed. The project won't run as expected!${NC}"
-      echo -e "${RED}#####################################################################################${NC}"
-    fi
-}
-
-##########################################
-# Project linting
-##########################################
-
-task:lint() {
-  b5 python:lint
-  b5 markdown:lint
-}
-
-task:python:lint() {
-  docker:container_run -T flake8 code
-}
-
-task:markdown:lint() {
-  docker:container_run -T mdlint markdownlint .
-}
-
-task:markdown:fix() {
-  docker:container_run -T mdlint markdownlint --fix .
-}
-
-task:comlipy() {
-    docker:container_run -T comlipy -c /apps/build/config-comlipy.yml "$@"
-}
-
-task:install:git_hooks() {
-    test -L ../.git/hooks/pre-commit || ln -s ../../build/hooks/pre-commit ../.git/hooks/
-    test -L ../.git/hooks/commit-msg || ln -s ../../build/hooks/commit-msg ../.git/hooks/
-    chmod +x ./hooks/*
-}
-
-task:gitconfig:copy() {
-  cp -u ~/.gitconfig ../.gitconfig
-}
-
-source ./tasks/ros.sh
diff --git a/build/config.yml b/build/config.yml
deleted file mode 100644
index 648c6c08..00000000
--- a/build/config.yml
+++ /dev/null
@@ -1,4 +0,0 @@
-# b5 config file
-modules:
-  template:
-  docker:
diff --git a/build/hooks/pre-commit.d/10-flake8.sh b/build/hooks/pre-commit.d/10-flake8.sh
deleted file mode 100644
index 237a5180..00000000
--- a/build/hooks/pre-commit.d/10-flake8.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-
-python_changed=0
-FILE_PATTERN=\.py$
-
-git diff --cached --name-only | grep -q $FILE_PATTERN && python_changed=1
-
-if [ $python_changed = 1 ]; then
-  b5 python:lint
-else
-  echo "No python files in commit, skip python linting"
-fi
\ No newline at end of file
diff --git a/build/hooks/pre-commit.d/20-markdown.sh b/build/hooks/pre-commit.d/20-markdown.sh
deleted file mode 100644
index 13a93af0..00000000
--- a/build/hooks/pre-commit.d/20-markdown.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-
-markdown_changed=0
-FILE_PATTERN=\.md$
-
-git diff --cached --name-only | grep -q $FILE_PATTERN && markdown_changed=1
-
-if [ $markdown_changed = 1 ]; then
-  b5 lint
-else
-  echo "No markdown files in commit, skip markdown linting"
-fi
\ No newline at end of file
diff --git a/build/tasks/ros.sh b/build/tasks/ros.sh
deleted file mode 100644
index bea9d749..00000000
--- a/build/tasks/ros.sh
+++ /dev/null
@@ -1,114 +0,0 @@
-#!/usr/bin/env bash
-# b5 Taskfile, see https://git.team23.de/build/b5 for details
-
-# shortcuts for commands documented here
-# http://wiki.ros.org/ROS/CommandLineTools#Common_user_tools
-
-task:roscommand() {
- # seems necessary to source the setup file on every call
- docker:container_run agent /bin/bash -c "source /opt/ros/noetic/setup.bash && ${@}"
-}
-
-task:rosbag() {
- task:roscommand "rosbag ${@}"
-}
-
-task:ros_readbagfile() {
- task:roscommand "ros_readbagfile ${@}"
-}
-
-task:rosbash() {
- task:roscommand "rosbash ${@}"
-}
-
-task:roscd() {
- task:roscommand "roscd ${@}"
-}
-
-task:rosclean() {
- task:roscommand "rosclean ${@}"
-}
-
-task:roscore() {
- task:roscommand "roscore ${@}"
-}
-
-task:rosdep() {
- task:roscommand "rosdep ${@}"
-}
-
-task:rosed() {
- task:roscommand "rosed ${@}"
-}
-
-task:roscreate-pkg() {
- task:roscommand "roscreate-pkg ${@}"
-}
-
-task:roscreate-stack() {
- task:roscommand "roscreate-stack ${@}"
-}
-
-task:rosrun() {
- task:roscommand "rosrun ${@}"
-}
-
-task:roslaunch() {
- task:roscommand "roslaunch ${@}"
-}
-
-task:roslocate() {
- task:roscommand "roslocate ${@}"
-}
-
-task:rosmake() {
- task:roscommand "rosmake ${@}"
-}
-
-task:rosmsg() {
- task:roscommand "rosmsg ${@}"
-}
-
-task:rosnode() {
-  additionalArguments="${@:1}"
- task:roscommand "rosnode ${@}"
-}
-
-task:rospack() {
- task:roscommand "rospack ${@}"
-}
-
-task:rosparam() {
- task:roscommand "rosparam ${@}"
-}
-
-task:rossrv() {
- task:roscommand "rossrv ${@}"
-}
-
-task:rosservice() {
- task:roscommand "rosservice ${@}"
-}
-
-task:rosstack() {
- task:roscommand "rosstack ${@}"
-}
-
-task:rostopic() {
- task:roscommand "rostopic ${@}"
-}
-
-task:rosversion() {
- task:roscommand "rosversion ${@}"
-}
-task:rqt_graph() {
-  task:roscommand "rqt_graph ${@}"
-}
-
-task:rqt_plot() {
-  task:roscommand "rqt_plot ${@}"
-}
-
-task:rqt_topic() {
-  task:roscommand "rqt_topic ${@}"
-}
diff --git a/doc/01_general/02_installation.md b/doc/01_general/02_installation.md
index bd42665b..a0a1d332 100644
--- a/doc/01_general/02_installation.md
+++ b/doc/01_general/02_installation.md
@@ -1,38 +1,12 @@
 # 🛠️ Installation
 
-To run the project you have to install [b5](https://github.com/team23/b5) and [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support, [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
+To run the project you have to install [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support, [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
 
-For development, we further recommend PyCharm Professional. More information about its installation can be found in [PyCharm Setup](../02_development/06_pycharm_setup.md)
+For development, we recommend Visual Studio Code with the plugins that are recommended inside the `.vscode` folder.
 
 ## Installation
 
-If not yet installed first install b5 and docker as described in section [b5 installation](#b5-installation) and [Docker with NVIDIA GPU support](#docker-with-nvidia-gpu-support).
-
-After that setting up the project and executing it is as easy as that:
-
-```shell
-# Setup project
-b5 install
-
-# Run project
-b5 run
-```
-
-## b5 installation
-
-Make sure you have installed python and pip. If not yet installed, you can do by the following (Ubuntu):
-
-```shell
-# Install python3
-sudo apt install python3
-```
-
-Afterwards just install b5 by running:
-
-```shell
-# Install b5
-pip install b5
-```
+If not yet installed first install docker as described in section [Docker with NVIDIA GPU support](#docker-with-nvidia-gpu-support).
 
 ## Docker with NVIDIA GPU support
 
@@ -90,20 +64,6 @@ sudo systemctl restart docker
 
 ## 🚨 Common Problems
 
-### `b5: command not found`
-
----
-
-1. If you already installed b5 (`pip install b5`) try to log out and log back in.
-
-2. If that doesn't help add this line to your `~/.bash_profile` or `~/.bashrc`:
-
-    ```shell
-    export PATH=$PATH:$HOME/.local/bin
-    ```
-
-([possible reason](https://stackoverflow.com/a/73256004))
-
 ### Vulkan device not available
 
 Cannot find a compatible Vulkan Device.
diff --git a/doc/01_general/03_commands.md b/doc/01_general/03_commands.md
deleted file mode 100644
index e25324e3..00000000
--- a/doc/01_general/03_commands.md
+++ /dev/null
@@ -1,102 +0,0 @@
-# ⌨️ Available commands
-
-A specific `b5` workflow for gpu installation in this project is specified in an issue comment: <https://github.com/una-auxme/paf/issues/260#issuecomment-2196852330>
-
-## General commands
-
-### `b5 run`
-
-Starts the Project (docker-compose up).
-
-### `b5 halt`
-
-Stops the Project (docker-compose down).
-
-### `b5 shell`
-
-Makes it possible to get a shell of any docker container contained in the project.
-
-Possible arguments:
-
-| `argument`  | `description`          | `optional` | `default` |
-|-------------|------------------------|------------|-----------|
-| `container` | Container name         | True       | flake8    |
-| `command`   | Command to be executed | True       |           |
-
-Usage: `b5 shell <container> <command>`
-
-#### Examples
-
-```shell
-# Execute flake8 lint in `components`-folder:
-b5 shell flake8 components
-
-# Get Shell in perception container (hypothetic example)
-b5 shell perception
-```
-
-## Project setup / maintenance
-
-### `b5 install`
-
-Setup the project. Has to be run after cloning the project.
-
-### `b5 update`
-
-Update the project.
-
-## Project linting
-
-### `b5 lint`
-
-Runs the project linters. More documentation about linting can be found [here](../02_development/02_linting.md).
-
-### `b5 python:lint`
-
-Runs the python linter. More documentation about linting can be found [here](../02_development/02_linting.md).
-
-### `b5 markdown:lint`
-
-Runs the markdown linter. More documentation about linting can be found [here](../02_development/02_linting.md).
-
-## Shortcuts for ROS
-
-Shortcuts to run the ROS commands directly in the container. Detailed documentation
-about this commands can be found [here](http://wiki.ros.org/ROS/CommandLineTools#Common_user_tools).
-
-For more complex tasks it's easier to just get a shell into the container with `b5 shell` and run the commands there.
-
-`b5 rosbag`
-`b5 ros_readbagfile`
-`b5 rosbash`
-`b5 roscd`
-`b5 rosclean`
-`b5 roscore`
-`b5 rosdep`
-`b5 rosed`
-`b5 roscreate-pkg`
-`b5 roscreate-stack`
-`b5 rosrun`
-`b5 roslaunch`
-`b5 roslocate`
-`b5 rosmake`
-`b5 rosmsg`
-`b5 rosnode`
-`b5 rospack`
-`b5 rosparam`
-`b5 rossrv`
-`b5 rosservice`
-`b5 rosstack`
-`b5 rostopic`
-`b5 rosversion`
-`b5 rqt_graph`
-
-## 🚨 Common Problems
-
-`
-REQUIRED process [carla_ros_bridge-1] has died!
-`
-
-If the execution of `b5 run` is stopping because of this error the reason might be a duplicate Carla ROS bridge.
-
-To eliminate this problem, run `b5 halt --remove-orphans`.
diff --git a/doc/01_general/Readme.md b/doc/01_general/Readme.md
index de254e8f..313b5e96 100644
--- a/doc/01_general/Readme.md
+++ b/doc/01_general/Readme.md
@@ -3,5 +3,4 @@
 This Folder contains instruction how to execute the project and what it does.
 
 1. [Installation](./02_installation.md)
-2. [Available b5 commands](./03_commands.md)
-3. [Current architecture of the agent](./04_architecture.md)
+2. [Current architecture of the agent](./04_architecture.md)
diff --git a/doc/02_development/02_linting.md b/doc/02_development/02_linting.md
index ab42b32f..728a1500 100644
--- a/doc/02_development/02_linting.md
+++ b/doc/02_development/02_linting.md
@@ -18,8 +18,6 @@ To enforce unified standards in all python files, we use [Flake8](https://pypi.o
 
 To enforce unified standards in all markdown files, we use [markdownlint-cli](https://github.com/igorshubovych/markdownlint-cli). More details on it can be found in the according documentation.
 
-The markdown linter can fix some errors on its own by executing `b5 markdown:fix`.
-
 ## 🚨 Common Problems
 
 Currently, we are not aware about any Problems.
diff --git a/doc/02_development/10_installing_python_packages.md b/doc/02_development/10_installing_python_packages.md
index 445cfe9c..7cb876a6 100644
--- a/doc/02_development/10_installing_python_packages.md
+++ b/doc/02_development/10_installing_python_packages.md
@@ -28,15 +28,3 @@ An example how this file could look like is given below:
 torch==1.13.0
 torchvision==0.1.9
 ```
-
-To install the added packages run `b5 install` afterwards.
-
-## Common Problems
-
-Sometimes, PyCharm does not recognize installed packages on the docker container.
-This leads to the problem that the program cannot be started in PyCharm via the run button, but only via command line.
-
-A workaround for this problem is:
-
-1. Run ```docker compose build``` in the console in the build folder.
-2. Click on the python interpreter in the lower right corner and reselect it.
diff --git a/doc/02_development/14_distributed_simulation.md b/doc/02_development/14_distributed_simulation.md
index 75a981d7..80dc7692 100644
--- a/doc/02_development/14_distributed_simulation.md
+++ b/doc/02_development/14_distributed_simulation.md
@@ -51,8 +51,8 @@ Replace the ip-address in the following files:
 ### Start the agent on your local machine
 
 ```bash
-b5 run_distributed
-b5 run_dev_distributed
+docker compose -f build/docker-compose_distributed.yaml up
+docker compose -f build/docker-compose_dev_distributed.yaml up
 ```
 
 ## How do you know that you do not have enough compute resources?
diff --git a/doc/02_development/installing_cuda.md b/doc/02_development/installing_cuda.md
index 0daa0002..832325b1 100644
--- a/doc/02_development/installing_cuda.md
+++ b/doc/02_development/installing_cuda.md
@@ -17,7 +17,6 @@ Marco Riedenauer
 ## First install
 
 For execution of the program, cuda-toolkit v11.7 has to be installed on both, your computer and the docker container.
-Cuda-toolkit should already be installed on the docker container by executing ```b5 install``` in your build folder:
 
 For installing cuda-toolkit on your computer, execute step-by-step the following commands in your command line:
 
@@ -51,8 +50,3 @@ the installer outputs that already another version of cuda-toolkit is installed,
 you have to uninstall the old version first.
 
 This can be done by executing the file `cuda-uninstaller` in the installation folder, usually `/usr/local/cuda-x.y/bin`.
-
-### Executing b5 install/update leads to an error of incompatible nvcc and drivers
-
-I had this problem after reinstalling cuda-toolkit on my computer. The best workaround I found is to uninstall all
-NVIDIA drivers and cuda-toolkit and reinstall both of them.
diff --git a/doc/06_perception/01_dataset_generator.md b/doc/06_perception/01_dataset_generator.md
index ad688f7d..e1a71aff 100644
--- a/doc/06_perception/01_dataset_generator.md
+++ b/doc/06_perception/01_dataset_generator.md
@@ -81,11 +81,9 @@ index d1ae1df..ef1b503 100644
 
 To run the dataset generator, first the Carla Simulator has to be running:
 
-  ```bash
-  b5 run carla-simulator
-  ```
+Start the docker containr `leaderboard-2.0`.
 
-You can then run the dataset generator by executing the following command in the `b5 shell`:
+You can then run the dataset generator by executing the following command in an attached shell:
 
 ```bash
 python3 perception/src/dataset_generator.py --host carla-simulator --port 2000 --use-empty-world
@@ -119,7 +117,7 @@ the
     # ...
 ```
 
-Once the leaderboard evaluator is running, you can start the dataset generator in the `b5 shell`:
+Once the leaderboard evaluator is running, you can start the dataset generator in an attached shell:
 
 ```bash
 python3 perception/src/dataset_generator.py --host carla-simulator --port 2000
diff --git a/doc/06_perception/07_position_heading_filter_debug_node.md b/doc/06_perception/07_position_heading_filter_debug_node.md
index fd1da95c..34f7ec2c 100644
--- a/doc/06_perception/07_position_heading_filter_debug_node.md
+++ b/doc/06_perception/07_position_heading_filter_debug_node.md
@@ -183,7 +183,7 @@ To be able to save data in csv files you just need to uncomment the saving metho
 To use the [viz.py](../../code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py) file you will have to:
 
 1. Configure the main method to your likings inside the viz.py: ![picture](/doc/00_assets/perception/sensor_debug_viz_config.png)
-2. Open up the b5 shell typing ```b5 shell``` into the terminal
+2. Open up an attached shell
 3. Navigate to the code/perception/src/00_Experiments/Position_Heading folder using ```cd```
 4. run the viz.py using ```python viz.py```
 
diff --git a/doc/07_planning/01_py_trees.md b/doc/07_planning/01_py_trees.md
index 94cab5db..5d21de8c 100644
--- a/doc/07_planning/01_py_trees.md
+++ b/doc/07_planning/01_py_trees.md
@@ -45,10 +45,9 @@ There is a very simple example for pytrees.
 
 Run:
 
-1. call `b5 update` to update docker container
-2. call `b5 run` to start container
-3. in a second shell call `b5 shell`
-4. run `py-trees-demo-behaviour-lifecycle` to execute the example
+1. Start the dev container for the agent
+2. Attach a shell to the container
+3. run `py-trees-demo-behaviour-lifecycle` to execute the example
 
 ## Common commands