diff --git a/99-hokuyo.rules b/99-hokuyo.rules
new file mode 100644
index 0000000..2dd6617
--- /dev/null
+++ b/99-hokuyo.rules
@@ -0,0 +1 @@
+SUBSYSTEM=="tty", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", SYMLINK+="hokuyo"
diff --git a/Legacy/entrypoint.sh b/Legacy/entrypoint.sh
index 23a0828..553f274 100755
--- a/Legacy/entrypoint.sh
+++ b/Legacy/entrypoint.sh
@@ -21,6 +21,4 @@ echo
 echo
 
 set -x
-rosrun rosaria RosAria _port:=$ARIA_PORT  _tf_prefix:=${ROS_NAMESPACE} &
-rosrun hokuyo_node hokuyo_node _frame_id:="PIONIER${PIONIER_ID}/laser" &
-rosrun tf static_transform_publisher 0.16 0 0 0 0 0 ${ROS_NAMESPACE}/base_link "${ROS_NAMESPACE}/laser" 100
\ No newline at end of file
+rosrun rosaria RosAria _port:=$ARIA_PORT  _tf_prefix:=${ROS_NAMESPACE} 
\ No newline at end of file
diff --git a/hokuyo/Dockerfile b/hokuyo/Dockerfile
new file mode 100644
index 0000000..ad65f46
--- /dev/null
+++ b/hokuyo/Dockerfile
@@ -0,0 +1,12 @@
+FROM ros:noetic-ros-core    
+
+RUN apt-get update -y && apt-get install -y  ros-noetic-urg-node  \
+    && rm -rf /var/lib/apt/lists/*
+
+SHELL ["/bin/bash", "--login", "-c"]
+
+RUN source /opt/ros/noetic/setup.bash && \
+    echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc 
+ENV ROS_MASTER_URI=http://10.104.16.29:11311/
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/hokuyo/entrypoint.sh b/hokuyo/entrypoint.sh
new file mode 100755
index 0000000..4d305eb
--- /dev/null
+++ b/hokuyo/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+source /opt/ros/noetic/setup.bash
+set -x
+rosrun urg_node urg_node _frame_id:="PIONIER${PIONIER_ID}/laser"  _serial_port:="/dev/hokuyo" scan:=PIONIER${PIONIER_ID}/scan &
+rosrun tf static_transform_publisher 0.149 0 0.269 0 0 0 PIONIER${PIONIER_ID}/base_link PIONIER${PIONIER_ID}/laser 100
\ No newline at end of file
diff --git a/install.sh b/install.sh
index d3d7344..032571f 100755
--- a/install.sh
+++ b/install.sh
@@ -9,16 +9,20 @@ cd radio-lap
 docker build . -t decawave
 cd ..
 
+cd hokuyo
+docker build . -t hokuyo
+cd ..
+
 cd Legacy
 docker build . -t irth7/rosaria-legacy
 cd ..
 
 cp 99-decawave.rules /etc/udev/rules.d/
+cp 99-hokuyo.rules /etc/udev/rules.d/
+
 cp rosaria-docker.service /etc/systemd/system/
 chmod g+w /etc/systemd/system/rosaria-docker.service
 
-git submodule init
-git submodule update
 systemctl daemon-reload
 systemctl enable rosaria-docker.service
 systemctl start rosaria-docker.service
diff --git a/radio-lap/entrypoint.sh b/radio-lap/entrypoint.sh
index 412e0f7..85510e4 100755
--- a/radio-lap/entrypoint.sh
+++ b/radio-lap/entrypoint.sh
@@ -3,4 +3,5 @@
 source /opt/ros/noetic/setup.bash
 source /ws/devel/setup.bash
 set -x
-roslaunch ros_decawave decawave_driver.launch pionier_id:=${PIONIER_ID}
+roslaunch ros_decawave decawave_driver.launch pionier_id:=${PIONIER_ID} &
+rosrun tf static_transform_publisher 0 0 0.2 0 0 0 /PIONIER${PIONIER_ID}/base_link /PIONIER${PIONIER_ID}/tag 100
\ No newline at end of file
diff --git a/rosaria-docker.service b/rosaria-docker.service
index 63c278c..311a540 100644
--- a/rosaria-docker.service
+++ b/rosaria-docker.service
@@ -2,7 +2,9 @@
 After=network.service
 
 [Service]
+RemainAfterExit=true
 ExecStart=/home/lab1_5/rosaria/run.sh
+ExecStop=/home/lab1_5/rosaria/stop.sh
 
 [Install]
 WantedBy=default.target
diff --git a/run.sh b/run.sh
index 3ac38f3..74f1f36 100755
--- a/run.sh
+++ b/run.sh
@@ -2,10 +2,15 @@
 # Script running rosaria inside docker container
 echo "ID: $PIONIER_ID"
 
-docker run -d --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g'
-)  --mount type=bind,source=/home/lab1_5/rosaria/Legacy/ws_linux,target=/home/lab1_5/ws/ws_linux  irth7/rosaria-legacy
+docker run   --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g'
+)  --mount type=bind,source=/home/lab1_5/rosaria/Legacy/ws_linux,target=/home/lab1_5/ws/ws_linux  irth7/rosaria-legacy &
 
 if [ -e "/dev/decawave" ]; then
 	echo "found tag"
-	docker run --network=host --device=/dev/decawave -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g') decawave
+	docker run --network=host --device=/dev/decawave -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g') decawave &
+fi
+
+if [ -e "/dev/hokuyo" ]; then
+	echo "found lidar"
+	docker run --network=host --device=/dev/hokuyo -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g') hokuyo &
 fi
diff --git a/stop.sh b/stop.sh
new file mode 100755
index 0000000..25b64cf
--- /dev/null
+++ b/stop.sh
@@ -0,0 +1,4 @@
+#!/bin/sh
+echo "Stopping old containers..."
+docker stop $(docker ps -q) > /dev/null
+echo "Done!"
\ No newline at end of file