diff --git a/docker/README.md b/docker/README.md
index e0700711..bb889184 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -7,57 +7,42 @@
     melodic, melodic-latest
     noetic, noetic-latest
     ```
-    * The `-latest` images are automatically built from latest version of `rtabmap` and `rtabmap_ros` from source (including GTSAM and libpointmatcher dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS. 
+    * The `-latest` images are automatically built from latest version of `rtabmap` and `rtabmap_ros` from source (including dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS. 
 
 
-* The following example show how to launch a camera on host computer and run our pre-built rtabmap container. All examples from [RGB-D tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) and [stereo tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) should work using rtabmap from the container instead. Launch camera on host computer (set ROS_IP as the IP used for docker):
-    ```bash
-    $ export ROS_IP=172.17.0.1 && roslaunch openni2_launch openni2.launch depth_registration:=true
-    # In another terminal, launch rtabmapviz or RVIZ. We do visualization 
-    # on host computer to avoid GPU problems with the container (see "with gui" below to launch rtabmapviz from the container):
-    $ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
-    ```
-
 * Launch `rtabmap` from inside the container (**no gui**), saving the database on host `~/.ros/rtabmap.db`:
     ```bash
-    $ docker run -it --rm \
-     --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
-     -v ~/.ros:/root  \
-     introlab3it/rtabmap_ros:kinetic-latest \
-     roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
+    docker run -it --rm \
+     --user $UID \
+     -e ROS_HOME=/tmp \
+     --network host \
+     -v ~/.ros:/tmp \
+     introlab3it/rtabmap_ros:noetic-latest \
+     roslaunch --wait rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/rtabmap.db rtabmap_args:="--delete_db_on_start"
    ```
    
- * Launch `rtabmap` from inside the container (**with gui**, if you have a nvidia GPU, follow those [instructions](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2) with nvidia-docker2 using one of the images above instead of the ros image example, or for other GPUs try the intel/AMD [instructions](http://wiki.ros.org/action/fullsearch/docker/Tutorials/Hardware%20Acceleration) to build a `rtabmap_ros3d` image with your GPU driver), saving the database on host `~/.ros/rtabmap.db`:
+* Launch `rtabmap` from inside the container (**with gui**), saving the database on host `~/.ros/rtabmap.db`, using [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2):
 
-   * With [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2), we would have this Dockerfile:
-       ```docker
-       FROM introlab3it/rtabmap_ros:noetic
+    ```bash
+    # those following 3 lines would need to be done only one time
+    XAUTH=/tmp/.docker.xauth
+    touch $XAUTH
+    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
 
-       # nvidia-container-runtime
-       ENV NVIDIA_VISIBLE_DEVICES \
-           ${NVIDIA_VISIBLE_DEVICES:-all}
-       ENV NVIDIA_DRIVER_CAPABILITIES \
-           ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-       ```
-       Building the image and run it:   
-       ```bash
-       $ docker build -t rtabmap_ros3d .
-       
-       # those following 3 lines would need to be done only one time
-       $ XAUTH=/tmp/.docker.xauth
-       $ touch $XAUTH
-       $ xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
-    
-       $ docker run -it --rm \
-         --privileged \
-         --env="DISPLAY=$DISPLAY" \
-         --env="QT_X11_NO_MITSHM=1" \
-         --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
-         --env="XAUTHORITY=$XAUTH" \
-         --volume="$XAUTH:$XAUTH" \
-         --runtime=nvidia \
-         --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
-         -v ~/.ros:/root  \
-         rtabmap_ros3d \
-         roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
-       ```
+    docker run -it --rm \
+      --privileged \
+      --user $UID \
+      -e ROS_HOME=/tmp \
+      -e DISPLAY=$DISPLAY \
+      -e QT_X11_NO_MITSHM=1 \
+      -e NVIDIA_VISIBLE_DEVICES=all \
+      -e NVIDIA_DRIVER_CAPABILITIES=all \
+      -e XAUTHORITY=$XAUTH \
+      --runtime=nvidia \
+      --network host \
+      -v $XAUTH:$XAUTH \
+      -v /tmp/.X11-unix:/tmp/.X11-unix \
+      -v ~/.ros:/tmp \
+      introlab3it/rtabmap_ros:noetic-latest \
+      roslaunch --wait rtabmap_launch rtabmap.launch database_path:=/tmp/rtabmap.db gui_cfg:=/tmp/rtabmap_gui.ini rtabmap_args:="--delete_db_on_start"
+    ```