diff --git a/docker/README.md b/docker/README.md
index 9cb8a4b..1adf31e 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -1,14 +1,3 @@
 # Docker
 
 This folder contains Docker sessions.
-
-## User-usable sessions
-
-* [custom_package](./custom_package) builds a custom ROS package into a Docker image
-* [local_docker_registry](./local_docker_registry) starts a local docker registry on a personal machine
-* [uav_session](./uav_session) sessions supposed to be started by the user via the Portainer system
-  * 
-
-## Admin and initial setup sessions
-
-* [portainer](./portainer) starts the Portainer-CE system (initial setup only)
diff --git a/docker/custom_package/build.sh b/docker/custom_package/build.sh
deleted file mode 100755
index 0daa238..0000000
--- a/docker/custom_package/build.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/bin/bash
-
-LOCAL_TAG=custom_package:1.0.0
-
-ARCH=arm64
-# ARCH=amd64
-
-WORKSPACE_PATH=etc/catkin_workspace
-CACHE_PATH=cache
-
-# initialize the cache
-mkdir -p ./${CACHE_PATH}/${WORKSPACE_PATH}
-
-docker buildx select default
-
-# this first build compiles the contents of "src" and storest the intermediate
-docker build . --target stage_cache_workspace --output ./${CACHE_PATH} --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --file Dockerfile --platform=linux/$ARCH
-
-# this second build takes the resulting workspace and storest in in a final image
-# that can be deployed to a drone
-docker build . --target stage_finalization --file Dockerfile --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --tag $LOCAL_TAG --platform=linux/$ARCH
diff --git a/docker/custom_package/src/.gitignore b/docker/custom_package/src/.gitignore
deleted file mode 100644
index 1d085ca..0000000
--- a/docker/custom_package/src/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-**
diff --git a/docker/main_image/export_image.sh b/docker/main_image/export_image.sh
deleted file mode 100755
index 7e8e40f..0000000
--- a/docker/main_image/export_image.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-LOCAL_TAG=custom_package:1.0.0
-
-docker save $LOCAL_TAG --output custom_package.tar
diff --git a/docker/uav_session/camera_test_bottom/compose.yaml b/docker/uav_sessions/camera_test_bottom/compose.yaml
similarity index 100%
rename from docker/uav_session/camera_test_bottom/compose.yaml
rename to docker/uav_sessions/camera_test_bottom/compose.yaml
diff --git a/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz b/docker/uav_sessions/camera_test_bottom/rviz/camera_test.rviz
similarity index 100%
rename from docker/uav_session/camera_test_bottom/rviz/camera_test.rviz
rename to docker/uav_sessions/camera_test_bottom/rviz/camera_test.rviz
diff --git a/docker/uav_session/camera_test_bottom/rviz/rviz.sh b/docker/uav_sessions/camera_test_bottom/rviz/rviz.sh
similarity index 100%
rename from docker/uav_session/camera_test_bottom/rviz/rviz.sh
rename to docker/uav_sessions/camera_test_bottom/rviz/rviz.sh
diff --git a/docker/uav_session/camera_test_bottom/variables.env b/docker/uav_sessions/camera_test_bottom/variables.env
similarity index 100%
rename from docker/uav_session/camera_test_bottom/variables.env
rename to docker/uav_sessions/camera_test_bottom/variables.env
diff --git a/docker/uav_session/camera_test_front/compose.yaml b/docker/uav_sessions/camera_test_front/compose.yaml
similarity index 100%
rename from docker/uav_session/camera_test_front/compose.yaml
rename to docker/uav_sessions/camera_test_front/compose.yaml
diff --git a/docker/uav_session/camera_test_front/rviz/camera_test.rviz b/docker/uav_sessions/camera_test_front/rviz/camera_test.rviz
similarity index 100%
rename from docker/uav_session/camera_test_front/rviz/camera_test.rviz
rename to docker/uav_sessions/camera_test_front/rviz/camera_test.rviz
diff --git a/docker/uav_session/camera_test_front/rviz/rviz.sh b/docker/uav_sessions/camera_test_front/rviz/rviz.sh
similarity index 100%
rename from docker/uav_session/camera_test_front/rviz/rviz.sh
rename to docker/uav_sessions/camera_test_front/rviz/rviz.sh
diff --git a/docker/uav_session/camera_test_front/variables.env b/docker/uav_sessions/camera_test_front/variables.env
similarity index 100%
rename from docker/uav_session/camera_test_front/variables.env
rename to docker/uav_sessions/camera_test_front/variables.env
diff --git a/docker/uav_session/gnss/compose.yaml b/docker/uav_sessions/gnss/compose.yaml
similarity index 100%
rename from docker/uav_session/gnss/compose.yaml
rename to docker/uav_sessions/gnss/compose.yaml
diff --git a/docker/uav_session/gnss/variables.env b/docker/uav_sessions/gnss/variables.env
similarity index 100%
rename from docker/uav_session/gnss/variables.env
rename to docker/uav_sessions/gnss/variables.env
diff --git a/docker/uav_session/sensor_diagnostics/compose.yaml b/docker/uav_sessions/sensor_diagnostics/compose.yaml
similarity index 100%
rename from docker/uav_session/sensor_diagnostics/compose.yaml
rename to docker/uav_sessions/sensor_diagnostics/compose.yaml
diff --git a/docker/uav_session/sensor_diagnostics/variables.env b/docker/uav_sessions/sensor_diagnostics/variables.env
similarity index 100%
rename from docker/uav_session/sensor_diagnostics/variables.env
rename to docker/uav_sessions/sensor_diagnostics/variables.env
diff --git a/docker/user_session/compose.yaml b/docker/uav_sessions/user_session/compose.yaml
similarity index 100%
rename from docker/user_session/compose.yaml
rename to docker/uav_sessions/user_session/compose.yaml
diff --git a/docker/user_session/variables.env b/docker/uav_sessions/user_session/variables.env
similarity index 100%
rename from docker/user_session/variables.env
rename to docker/uav_sessions/user_session/variables.env
diff --git a/docker/uav_session/vio/compose.yaml b/docker/uav_sessions/vio/compose.yaml
similarity index 100%
rename from docker/uav_session/vio/compose.yaml
rename to docker/uav_sessions/vio/compose.yaml
diff --git a/docker/uav_session/vio/variables.env b/docker/uav_sessions/vio/variables.env
similarity index 100%
rename from docker/uav_session/vio/variables.env
rename to docker/uav_sessions/vio/variables.env
diff --git a/docker/custom_package/.gitignore b/docker/user_workspace/.gitignore
similarity index 57%
rename from docker/custom_package/.gitignore
rename to docker/user_workspace/.gitignore
index 2fd7fd0..1061e97 100644
--- a/docker/custom_package/.gitignore
+++ b/docker/user_workspace/.gitignore
@@ -1,2 +1,3 @@
 cache
 *.tar
+*.tar.gz
diff --git a/docker/custom_package/Dockerfile b/docker/user_workspace/Dockerfile
similarity index 100%
rename from docker/custom_package/Dockerfile
rename to docker/user_workspace/Dockerfile
diff --git a/docker/user_workspace/build_image.sh b/docker/user_workspace/build_image.sh
new file mode 100755
index 0000000..188c5ad
--- /dev/null
+++ b/docker/user_workspace/build_image.sh
@@ -0,0 +1,53 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
+
+cd ${MY_PATH}
+
+## --------------------------------------------------------------
+## |                            setup                           |
+## --------------------------------------------------------------
+
+LOCAL_TAG=user_workspace:1.0.0
+
+ARCH=arm64 # robofly
+# ARCH=amd64
+
+source ./paths.sh
+
+## --------------------------------------------------------------
+## |                            build                           |
+## --------------------------------------------------------------
+
+# initialize the cache
+[ ! -e ${CACHE_PATH}/${WORKSPACE_PATH} ] && mkdir -p ./${CACHE_PATH}/${WORKSPACE_PATH}
+
+PASS_TO_DOCKER_BUILD="Dockerfile src ${CACHE_PATH}/${WORKSPACE_PATH}"
+
+docker buildx use default
+
+echo ""
+echo "$0: building the user's workspace"
+echo ""
+
+# this first build compiles the contents of "src" and storest the intermediate
+tar -czh $PASS_TO_DOCKER_BUILD 2>/dev/null | docker build - --no-cache --target stage_cache_workspace --output ./${CACHE_PATH} --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --file Dockerfile --platform=linux/$ARCH
+
+echo ""
+echo "$0: packing the workspace into a docker image"
+echo ""
+
+# this second build takes the resulting workspace and storest in in a final image
+# that can be deployed to a drone
+docker build . --no-cache --target stage_finalization --file Dockerfile --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --tag $LOCAL_TAG --platform=linux/$ARCH
+
+echo ""
+echo "$0: workspace was packed into '$LOCAL_TAG'"
+echo ""
diff --git a/docker/user_workspace/clean_cache.sh b/docker/user_workspace/clean_cache.sh
new file mode 100755
index 0000000..e7b04d5
--- /dev/null
+++ b/docker/user_workspace/clean_cache.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
+
+cd ${MY_PATH}
+
+## --------------------------------------------------------------
+## |                            setup                           |
+## --------------------------------------------------------------
+
+source ./paths.sh
+
+## --------------------------------------------------------------
+## |                            build                           |
+## --------------------------------------------------------------
+
+rm -rf $CACHE_PATH
+
+echo ""
+echo "$0: cache cleaned"
+echo ""
diff --git a/docker/user_workspace/export_image.sh b/docker/user_workspace/export_image.sh
new file mode 100755
index 0000000..01d8ac6
--- /dev/null
+++ b/docker/user_workspace/export_image.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
+
+cd ${MY_PATH}
+
+## --------------------------------------------------------------
+## |                            setup                           |
+## --------------------------------------------------------------
+
+LOCAL_TAG=user_workspace:1.0.0
+
+## --------------------------------------------------------------
+## |                           export                           |
+## --------------------------------------------------------------
+
+docker save $LOCAL_TAG | gzip > ${LOCAL_TAG}.tar.gz
+
+echo ""
+echo "$0: image exorted as ${LOCAL_TAG}.tar.gz"
+echo ""
+
diff --git a/docker/user_workspace/paths.sh b/docker/user_workspace/paths.sh
new file mode 100644
index 0000000..fab567d
--- /dev/null
+++ b/docker/user_workspace/paths.sh
@@ -0,0 +1,3 @@
+export WORKSPACE_PATH=etc/catkin_workspace
+export CACHE_PATH=cache
+
diff --git a/docker/local_docker_registry/README.md b/setup/docker_registry/README.md
similarity index 100%
rename from docker/local_docker_registry/README.md
rename to setup/docker_registry/README.md
diff --git a/docker/local_docker_registry/compose.yaml b/setup/docker_registry/compose.yaml
similarity index 100%
rename from docker/local_docker_registry/compose.yaml
rename to setup/docker_registry/compose.yaml
diff --git a/docker/local_docker_registry/down.sh b/setup/docker_registry/down.sh
similarity index 100%
rename from docker/local_docker_registry/down.sh
rename to setup/docker_registry/down.sh
diff --git a/docker/local_docker_registry/up.sh b/setup/docker_registry/up.sh
similarity index 100%
rename from docker/local_docker_registry/up.sh
rename to setup/docker_registry/up.sh
diff --git a/docker/portainer/README.md b/setup/portainer/README.md
similarity index 100%
rename from docker/portainer/README.md
rename to setup/portainer/README.md
diff --git a/docker/portainer/agent/compose.yaml b/setup/portainer/agent/compose.yaml
similarity index 100%
rename from docker/portainer/agent/compose.yaml
rename to setup/portainer/agent/compose.yaml
diff --git a/docker/portainer/agent/down.sh b/setup/portainer/agent/down.sh
similarity index 100%
rename from docker/portainer/agent/down.sh
rename to setup/portainer/agent/down.sh
diff --git a/docker/portainer/agent/up.sh b/setup/portainer/agent/up.sh
similarity index 100%
rename from docker/portainer/agent/up.sh
rename to setup/portainer/agent/up.sh
diff --git a/docker/portainer/agent_and_server/compose.yaml b/setup/portainer/agent_and_server/compose.yaml
similarity index 100%
rename from docker/portainer/agent_and_server/compose.yaml
rename to setup/portainer/agent_and_server/compose.yaml
diff --git a/docker/portainer/agent_and_server/down.sh b/setup/portainer/agent_and_server/down.sh
similarity index 100%
rename from docker/portainer/agent_and_server/down.sh
rename to setup/portainer/agent_and_server/down.sh
diff --git a/docker/portainer/agent_and_server/up.sh b/setup/portainer/agent_and_server/up.sh
similarity index 100%
rename from docker/portainer/agent_and_server/up.sh
rename to setup/portainer/agent_and_server/up.sh
diff --git a/docker/portainer/server/compose.yaml b/setup/portainer/server/compose.yaml
similarity index 100%
rename from docker/portainer/server/compose.yaml
rename to setup/portainer/server/compose.yaml
diff --git a/docker/portainer/server/down.sh b/setup/portainer/server/down.sh
similarity index 100%
rename from docker/portainer/server/down.sh
rename to setup/portainer/server/down.sh
diff --git a/docker/portainer/server/up.sh b/setup/portainer/server/up.sh
similarity index 100%
rename from docker/portainer/server/up.sh
rename to setup/portainer/server/up.sh
diff --git a/docker/main_image/Dockerfile b/setup/robofly_docker_image/Dockerfile
similarity index 100%
rename from docker/main_image/Dockerfile
rename to setup/robofly_docker_image/Dockerfile
diff --git a/docker/main_image/build.sh b/setup/robofly_docker_image/build.sh
similarity index 100%
rename from docker/main_image/build.sh
rename to setup/robofly_docker_image/build.sh
diff --git a/docker/main_image/build_arm64.sh b/setup/robofly_docker_image/build_arm64.sh
similarity index 100%
rename from docker/main_image/build_arm64.sh
rename to setup/robofly_docker_image/build_arm64.sh
diff --git a/docker/custom_package/export_image.sh b/setup/robofly_docker_image/export_image.sh
similarity index 100%
rename from docker/custom_package/export_image.sh
rename to setup/robofly_docker_image/export_image.sh