diff --git a/app/navigation2/conf/cyclone_dds_sim_settings.xml b/app/navigation2/conf/cyclone_dds_sim_settings.xml
index 0adf759..6b00cb8 100644
--- a/app/navigation2/conf/cyclone_dds_sim_settings.xml
+++ b/app/navigation2/conf/cyclone_dds_sim_settings.xml
@@ -3,7 +3,7 @@
       <General>
          <AllowMulticast>false</AllowMulticast>
          <Interfaces>
-            <NetworkInterface address="127.0.0.1" priority="default"/>
+            <NetworkInterface address="172.17.0.1" priority="default"/>
          </Interfaces>
       </General>
       <Discovery>
diff --git a/app/navigation2/conf/robotInterface/lidar_compressed_sim.xml b/app/navigation2/conf/robotInterface/lidar_compressed_sim.xml
index 42d4f99..dc0eef0 100644
--- a/app/navigation2/conf/robotInterface/lidar_compressed_sim.xml
+++ b/app/navigation2/conf/robotInterface/lidar_compressed_sim.xml
@@ -3,7 +3,7 @@
 
 <robot name="cer-ros-repeater" build="2" portprefix="test" xmlns:xi="http://www.w3.org/2001/XInclude">
 <devices>
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="recev" type="Rangefinder2DClient">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="recev" type="rangefinder2D_nwc_yarp">
         <param name="period"> 0.010 </param>
         <param name="local">   /laser_client_repeater:i </param>
         <param name="remote">  /SIM_CER_ROBOT/laser:o  </param>
diff --git a/docker_stuff/docker_tourCore2/Dockerfile b/docker_stuff/docker_tourCore2/Dockerfile
index af7580a..fa2e06f 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 ${robotology_install_folder}
-RUN git clone https://github.com/robotology/icub-firmware-shared -b master
+RUN git clone https://github.com/robotology/icub-firmware-shared -b devel
 RUN cd icub-firmware-shared && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release && make -j11
 ENV icub_firmware_shared_ROOT=${robotology_install_folder}/icub-firmware-shared
 ENV icub_firmware_shared_DIR=${robotology_install_folder}/icub-firmware-shared/build