diff --git a/99-decawave.rules b/99-decawave.rules
new file mode 100644
index 0000000..1fd7a65
--- /dev/null
+++ b/99-decawave.rules
@@ -0,0 +1 @@
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1366", ATTRS{idProduct}=="0105", SYMLINK+="decawave"
diff --git a/Legacy/entrypoint.sh b/Legacy/entrypoint.sh
index e07590b..774dfb8 100755
--- a/Legacy/entrypoint.sh
+++ b/Legacy/entrypoint.sh
@@ -21,6 +21,7 @@ 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
 
-rosrun rosaria RosAria _port:=$ARIA_PORT  _tf_prefix:=PIONIER${PIONIER_ID} &
-rosrun hokuyo_node hokuyo_node _frame_id:="laser${PIONIER_ID}"
diff --git a/install.sh b/install.sh
index 599dfbb..f50f68a 100755
--- a/install.sh
+++ b/install.sh
@@ -5,6 +5,15 @@ if [ "$EUID" -ne 0 ]
         exit
 fi
 
+cd radio-lap
+docker build . -t decawave
+cd ..
+
+cd Legacy
+docker build . -t irth7/rosaria-legacy
+cd ..
+
+cp 99-decawave.rules /etc/udev/rules.d/
 cp rosaria-docker.service /etc/systemd/system/
 chmod g+w /etc/systemd/system/rosaria-docker.service
 systemctl daemon-reload
diff --git a/radio-lap/Dockerfile b/radio-lap/Dockerfile
new file mode 100644
index 0000000..ce72a58
--- /dev/null
+++ b/radio-lap/Dockerfile
@@ -0,0 +1,15 @@
+FROM ros:noetic-ros-core    
+
+RUN apt-get update -y && apt-get install ros-noetic-tf python3-serial python3-catkin-tools build-essential -y \
+    && rm -rf /var/lib/apt/lists/*
+
+SHELL ["/bin/bash", "--login", "-c"]
+WORKDIR /ws
+
+COPY ./src /ws/src
+RUN source /opt/ros/noetic/setup.bash && catkin_make        && \
+    echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc   && \
+    echo "source /ws/devel/setup.bash" >> ~/.bashrc
+ENV ROS_MASTER_URI=http://10.104.16.29:11311/
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/radio-lap/entrypoint.sh b/radio-lap/entrypoint.sh
new file mode 100755
index 0000000..412e0f7
--- /dev/null
+++ b/radio-lap/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+source /opt/ros/noetic/setup.bash
+source /ws/devel/setup.bash
+set -x
+roslaunch ros_decawave decawave_driver.launch pionier_id:=${PIONIER_ID}
diff --git a/radio-lap/src/CMakeLists.txt b/radio-lap/src/CMakeLists.txt
new file mode 100644
index 0000000..cd58121
--- /dev/null
+++ b/radio-lap/src/CMakeLists.txt
@@ -0,0 +1,69 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()
diff --git a/radio-lap/src/ros_decawave b/radio-lap/src/ros_decawave
new file mode 160000
index 0000000..cee43c8
--- /dev/null
+++ b/radio-lap/src/ros_decawave
@@ -0,0 +1 @@
+Subproject commit cee43c8ea4496df46ec00bc851082186b86ad169
diff --git a/run.sh b/run.sh
index 0d02c4b..7bbb7db 100755
--- a/run.sh
+++ b/run.sh
@@ -2,5 +2,10 @@
 # Script running rosaria inside docker container
 echo "ID: $PIONIER_ID"
 
-docker run --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g'
+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'
 ) 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
+fi