diff --git a/Dockerfile b/Dockerfile
index cfcfc4a..9a21986 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -16,10 +16,9 @@ RUN apt-get update && apt-get install -y \
     vim \
     && rm -rf /var/lib/apt/lists/*
 
-RUN echo "source /opt/ros/foxy/setup.bash" >> /root/.bashrc
 
 # Clone the ros2-vicon-receiver package
-ENV WS=/vicon_ws
+ENV WS /vicon_ws
 RUN mkdir -p $WS/src && \
     cd $WS/src && \
     git clone https://github.com/skim0119/ros2-vicon-receiver && \
@@ -30,7 +29,15 @@ RUN mkdir -p $WS/src && \
 WORKDIR $WS
 RUN source /opt/ros/foxy/setup.bash && \
     colcon build --symlink-install
-RUN echo "source /vicon_ws/install/setup.bash" >> /root/.bashrc
+
+WORKDIR /
+RUN source vicon_ws/install/setup.bash
+
+RUN echo ". /opt/ros/foxy/setup.bash" >> /root/.bashrc
+RUN echo ". /vicon_ws/install/setup.bash" >> /root/.bashrc
+
+RUN sed -e '/[ -z "$PS1" ] && return/s/^/#/g' -i /root/.bashrc
 
 # Set the entrypoint to use ROS 2
-ENTRYPOINT ["/bin/bash", "-c", "ros2 launch vicon_receiver client.lanuch.py && exec \"$@\"", "--"]
+ENTRYPOINT ["/bin/bash", "-c", "source ~/.bashrc && exec \"$@\"", "--"]
+CMD ["bash"]
\ No newline at end of file
diff --git a/README.md b/README.md
index 8e08e6d..d2346f0 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 [![Publish Docker Image to Docker Hub CI](https://github.com/hanson-hschang/ros2-vicon/actions/workflows/docker-image.yml/badge.svg?branch=main)](https://github.com/hanson-hschang/ros2-vicon/actions/workflows/docker-image.yml)
 
-This repository contains a Dockerfile and associated scripts for creating a Docker image that combines ROS2 (Robot Operating System 2) with Vicon motion capture system integration.
+This repository contains a Dockerfile and associated scripts for creating a Docker image that combines ROS2 (Robot Operating System 2) with Vicon motion capture system integration. The image includes this [ros2-node](https://github.com/OPT4SMART/ros2-vicon-receiver) to communicate with external Vicon system.
 
 ## Overview
 
@@ -20,9 +20,22 @@ This Docker image is designed to provide a pre-configured environment for roboti
 - [Docker](https://www.docker.com/) installed on your system
 - Git (for cloning this repository)
 
-## Building the Docker Image
+## Download the Docker Image
 
-To build the Docker image:
+### Method 1: Pull from Docker Hub
+
+Docker image is built using `github-action`, and uploaded to [Docker Hub](https://hub.docker.com/r/hansonhschang/ros2-vicon).
+
+```zsh
+docker pull hansonhschang/ros2-vicon:latest
+```
+
+> The variable `<name>` in following sections will be `hansonhschang/ros2-vicon`.
+
+
+### Method 2: Build locally from Dockrfile
+
+To build the Docker image locally:
 
 1. Clone this repostitory 
   ```zsh
@@ -47,6 +60,7 @@ To build the Docker image:
 
 1. To create and start a new container from the image, run the following command
   ```zsh
+  docker run -i -t --rm <name>
   docker run -i -t --rm --entrypoint bash <name>
   ```
   |  flag&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;  |  value&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; | function  |
@@ -98,6 +112,52 @@ To build the Docker image:
 
 For GUI applications, you may need to set up X11 forwarding or use other methods to enable GUI support.
 
+## How to use
+
+You can run `ros2` commands as if you have `ros2` installed on local machine. Just prepend `docker run -it --rm <name> ros2`.
+
+> To use your own script or folder outside of the container, you have to create the container without `--rm` flag, and copy the contents inside. Take a look [here](https://docs.docker.com/reference/cli/docker/container/cp/).
+
+### Test Ros2: Talker and Listener
+
+> The structure is similar to [this](https://docs.ros.org/en/foxy/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html#run-two-nodes-in-two-separate-docker-containers).
+
+Run the following ros2 nodes on each terminal:
+
+```zsh
+docker run -it --rm <name> ros2 run demo_nodes_cpp talker
+docker run -it --rm <name> ros2 run demo_nodes_cpp listener
+```
+
+### Launch Vicon
+
+> The default host ip is `192.168.1.12`.
+
+```zsh
+docker run -it --rm <name> ros2 launch vicon_receiver client.launch.py
+```
+
+To see the data, you can implement your own listener or use `ros2 topic echo <topic name>`.
+
+#### Mock Vicon System
+
+Mock system can be launched when Vicon system is not available.
+
+```zsh
+docker run -it --rm <name> ros2 launch vicon_receiver mock_client.launch.py
+```
+
+#### Ros2 Tips
+
+More commands are available in official ROS2 documentation. Here, I'm providing few that will be useful
+to debug the `docker` container.
+
+```zsh
+docker run -it --rm <name> ros2 pkg list    # list all available ros2 packages
+docker run -it --rm <name> ros2 topic list  # list all available ros2 topics
+docker run -it --rm <name> ros2 topic echo <topic name>  # listen a topic data
+```
+
 ## CI/CD
 
 This repository uses GitHub Actions for continuous integration and delivery. On each pull request to the main branch, the workflow will:
@@ -109,4 +169,4 @@ The workflow can also be manually triggered from the GitHub Actions tab.
 
 ## Contributing
 
-Contributions to improve this Docker image are welcome. Please submit issues and pull requests on this GitHub repository.
\ No newline at end of file
+Contributions to improve this Docker image are welcome. Please submit issues and pull requests on this GitHub repository.