diff --git a/Dockerfile b/Dockerfile.dock
similarity index 79%
rename from Dockerfile
rename to Dockerfile.dock
index d8f5ba0..daf12f7 100644
--- a/Dockerfile
+++ b/Dockerfile.dock
@@ -20,15 +20,15 @@ cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/set
 RUN echo "source /opt/ros/humble/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
 RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
 RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
-RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces> <NetworkInterface name="eth0" priority="default" multicast="default" />  </Interfaces></General></Domain></CycloneDDS>'" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces> <NetworkInterface name="eth0" priority="default" multicast="default" />  </Interfaces></General></Domain></CycloneDDS>'" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
 
 # copy the go2py ros2 nodes
-COPY deploy/ros2_ws/src /ros2_ws/src
-RUN cd /ros2_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
+COPY deploy/dock_ws/src /dock_ws/src
+RUN cd /dock_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
 
 # Compile the C++ hypervisor bridge
-COPY cpp_bridge /cpp_bridge
-WORKDIR /cpp_bridge
+COPY deploy/dds_bridge /dds_bridge
+WORKDIR /dds_bridge
 RUN ./install.sh && mkdir build && cd build && cmake .. && make
 
 # Copy the script to start the nodes
diff --git a/Makefile b/Makefile
index 1d99bd8..bb1a93c 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 docker:
-	@docker build --no-cache --tag go2py:latest .
+	@docker build --no-cache --tag go2py:latest -f Dockerfile.dock .
 
 docker_install:
 	@cp deploy/scripts/go2py-hw-nodes.service /etc/systemd/system/