diff --git a/app/navigation2/conf/cyclone_dds_sim_settings.xml b/app/navigation2/conf/cyclone_dds_sim_settings.xml
new file mode 100644
index 0000000..0adf759
--- /dev/null
+++ b/app/navigation2/conf/cyclone_dds_sim_settings.xml
@@ -0,0 +1,17 @@
+<CycloneDDS>
+   <Domain>
+      <General>
+         <AllowMulticast>false</AllowMulticast>
+         <Interfaces>
+            <NetworkInterface address="127.0.0.1" priority="default"/>
+         </Interfaces>
+      </General>
+      <Discovery>
+         <MaxAutoParticipantIndex>30</MaxAutoParticipantIndex>
+         <ParticipantIndex>auto</ParticipantIndex>
+         <Peers>
+            <Peer address="localhost"/>
+         </Peers>
+      </Discovery>
+   </Domain>
+</CycloneDDS>
diff --git a/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml b/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml
index fdc4b06..2c24988 100644
--- a/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml
+++ b/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml
@@ -8,7 +8,7 @@
    <module>
       <name>ros2_launch.sh</name>
       <parameters>robot_state_publisher.launch.py use_sim_time:=true</parameters>
-      <workdir>/home/user1/tour-guide-robot/app/navigation2/launch/</workdir>
+      <workdir>$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/launch/</workdir>
       <node>console</node>
    </module>
 
@@ -21,7 +21,7 @@
    <module>
       <name>./set_navigation_position_sim.sh</name>
       <parameters></parameters>
-      <workdir>/home/user1/tour-guide-robot/app/navigation2/scripts/</workdir>
+      <workdir>$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/scripts/</workdir>
       <node>console</node>
    </module>
 
@@ -46,7 +46,7 @@
    <module>
       <name>ros2_launch.sh</name>
       <parameters>amcl.launch.py use_sim_time:=true</parameters>
-      <workdir>/home/user1/tour-guide-robot/app/navigation2/launch/</workdir>
+      <workdir>$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/launch/</workdir>
       <node>console</node>
    </module>
 
@@ -58,8 +58,8 @@
 
    <module>
       <name>ros2_launch.sh</name>
-      <parameters>navigation.launch.py use_sim_time:=true params_file:=/home/user1/tour-guide-robot/app/navigation2/conf/nav2_params.yaml</parameters>
-      <workdir>/home/user1/tour-guide-robot/app/navigation2/launch/</workdir>
+      <parameters>navigation.launch.py use_sim_time:=true params_file:=$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/conf/nav2_params.yaml</parameters>
+      <workdir>$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/launch/</workdir>
       <node>console</node>
    </module>
 
@@ -78,7 +78,7 @@
    <module>
       <name>rviz2</name>
       <parameters>-d r1_visualizer.rviz --ros-args --remap use_sim_time:=true</parameters>
-      <workdir>/home/user1/tour-guide-robot/app/navigation2/conf/</workdir>
+      <workdir>$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/conf/</workdir>
       <node>console</node>
    </module>
 
diff --git a/app/navigation2/scripts/start_sim_madama.sh b/app/navigation2/scripts/start_sim_madama.sh
index 3bb4846..2e68003 100755
--- a/app/navigation2/scripts/start_sim_madama.sh
+++ b/app/navigation2/scripts/start_sim_madama.sh
@@ -1,6 +1,6 @@
 yarpserver &
 sleep 1;
-ros2 launch gazebo_ros gazebo.launch.py extra_gazebo_args:=-slibgazebo_yarp_clock.so world:=/home/user1/tour-guide-robot/app/maps/SIM_MADAMA/madama.world &
+ros2 launch gazebo_ros gazebo.launch.py extra_gazebo_args:=-slibgazebo_yarp_clock.so world:=/usr/local/src/robot/tour-guide-robot/app/maps/SIM_MADAMA/madama.world &
 sleep 1;
 yarprun --server /console --log &
 sleep 1;
diff --git a/app/speechPipeline/conf/robotInterface/audioTranscribe.xml b/app/speechPipeline/conf/robotInterface/audioTranscribe.xml
index 07b5f48..f649f6c 100644
--- a/app/speechPipeline/conf/robotInterface/audioTranscribe.xml
+++ b/app/speechPipeline/conf/robotInterface/audioTranscribe.xml
@@ -10,7 +10,7 @@
 <robot name="test" build="2" portprefix="test" xmlns:xi="http://www.w3.org/2001/XInclude">
     <devices>
         <device name="dev1" type="whisperSpeechTranscription" >
-            <param extern-name="model" name="model"> /home/user1/yarp-device-speechTranscription-whisper/build/share/WhisperTranscribe/contexts/whisperTranscribe_demo/ggml-base.en.bin/ggml-base.en.bin </param>
+            <param extern-name="model" name="model"> /usr/local/src/robot/yarp-device-speechTranscription-whisper/build/share/WhisperTranscribe/contexts/whisperTranscribe_demo/ggml-base.en.bin/ggml-base.en.bin </param>
         </device>
 
         <device name="dev2" type="speechTranscription_nws_yarp">
diff --git a/docker_stuff/docker_sim2/Dockerfile b/docker_stuff/docker_sim2/Dockerfile
index 951024b..93165f0 100644
--- a/docker_stuff/docker_sim2/Dockerfile
+++ b/docker_stuff/docker_sim2/Dockerfile
@@ -5,7 +5,7 @@ LABEL maintainer="Ettore Landini"
 ARG ros_distro
 ARG yarp_branch="master"
 ARG ros2_dev_remote="robotology"
-ARG ros2_dev_branch=${ros_distro}
+ARG ros2_dev_branch=${yarp_branch}
 ARG gazebo_pkg=ros-${ros_distro}-ros-gz
 
 # Non-interactive installation mode
@@ -175,7 +175,7 @@ ENV GazeboYARPPlugins_DIR=${robotology_install_folder}/gazebo-yarp-plugins/build
 # CER
 USER ${robotology_install_user}
 WORKDIR ${robotology_install_folder}
-RUN git clone https://github.com/elandini84/cer.git -b fix/compatibility/yarp_master
+RUN git clone https://github.com/robotology/cer.git
 RUN cd cer && mkdir build && cd build && cmake .. \
                 -DCMAKE_BUILD_TYPE=Release \
                 -DENABLE_cermod_cerDoubleLidar=ON \
diff --git a/docker_stuff/docker_tourCore2/Dockerfile b/docker_stuff/docker_tourCore2/Dockerfile
index fa2e06f..af7580a 100644
--- a/docker_stuff/docker_tourCore2/Dockerfile
+++ b/docker_stuff/docker_tourCore2/Dockerfile
@@ -120,7 +120,7 @@ RUN sudo ln -s /usr/local/share/bash-completion/completions/yarp /usr/share/bash
 # Build icub-firmware-shared
 USER ${robotology_install_user}
 WORKDIR ${robotology_install_folder}
-RUN git clone https://github.com/robotology/icub-firmware-shared -b devel
+RUN git clone https://github.com/robotology/icub-firmware-shared -b master
 RUN cd icub-firmware-shared && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release && make -j11
 ENV icub_firmware_shared_ROOT=${robotology_install_folder}/icub-firmware-shared
 ENV icub_firmware_shared_DIR=${robotology_install_folder}/icub-firmware-shared/build