diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 00000000..b8c1eedb
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,31 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "Ubuntu",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"image": "mcr.microsoft.com/devcontainers/base:jammy",
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+		"ghcr.io/devcontainers/features/docker-in-docker:2": {}
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"mhutchie.git-graph",
+				"openrobotics.spaceros-dashboard"
+			]
+		}
+	}
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+}
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 00000000..f33a02cd
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,12 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for more information:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+# https://containers.dev/guide/dependabot
+
+version: 2
+updates:
+ - package-ecosystem: "devcontainers"
+   directory: "/"
+   schedule:
+     interval: weekly
diff --git a/freisa_on_mars/Dockerfile b/freisa_on_mars/Dockerfile
new file mode 100644
index 00000000..9f748d64
--- /dev/null
+++ b/freisa_on_mars/Dockerfile
@@ -0,0 +1,218 @@
+# ==========================================================================
+# File: freisa_on_mars/Dockerfile
+#
+# Adapted from
+# * https://github.com/space-ros/docker/blob/main/moveit2/Dockerfile
+# * https://github.com/space-ros/docker/blob/main/space_robots/Dockerfile
+# ==========================================================================
+
+FROM osrf/space-ros:latest
+# FROM openrobotics/moveit2:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="FREISA meets Curiosity Rover"
+LABEL org.label-schema.description="FREISA Robot Dog meets Curiosity rover demo on the Space ROS platform"
+LABEL org.label-schema.vendor="B-AROL-O Team"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# === BEGIN Adaptation from space-ros/docker/moveit2/Dockerfile ===
+
+# Define key locations
+ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
+
+# Make sure the latest versions of packages are installed
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Get the MoveIt2 source code
+WORKDIR ${HOME_DIR}
+RUN git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
+RUN cd ${MOVEIT2_DIR}/src \
+  && git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+RUN mkdir -p ${SPACEROS_DIR}/src # HACK
+
+RUN touch DEBUG-01.txt
+
+# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
+WORKDIR ${MOVEIT2_DIR}
+COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/moveit2-pkgs.txt) \
+  > /tmp/moveit2_generated_pkgs.repos
+  
+# Get the repositories required by MoveIt2, but not included in Space ROS
+WORKDIR ${MOVEIT2_DIR}
+RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
+RUN vcs import src < /tmp/moveit2_tutorials.repos
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+
+RUN touch DEBUG-02.txt
+
+# Install system dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+  && rosdep install --from-paths ../spaceros/src src --ignore-src \
+     --rosdistro ${ROSDISTRO} -r -y --skip-keys \
+     "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+# Apply a patch to octomap_msgs to work around a build issue
+COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
+RUN cd src/octomap_msgs && git apply octomap_fix.diff
+
+# Build MoveIt2
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+
+# # Add a couple sample GUI apps for testing
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install -y \
+#   firefox \
+#   glmark2 \
+#   libcanberra-gtk3-0 \
+#   libpci-dev \
+#   xauth \
+#   xterm
+
+# === END Adaptation from space-ros/docker/moveit2/Dockerfile ===
+
+RUN touch DEBUG-11.txt
+
+# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
+# Generate repos file for demo dependencies, excluding packages from Space ROS core.
+# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+# RUN rosinstall_generator \
+#   --rosdistro ${ROSDISTRO} \
+#   --deps \
+#   --exclude-path ${SPACEROS_DIR}/src \
+#   --exclude-path ${MOVEIT2_DIR}/src \
+#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+#   -- $(cat /tmp/demo-pkgs.txt) \
+#   > /tmp/demo_generated_pkgs.repos
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+RUN touch DEBUG-12.txt
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot \
+       debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build \
+  && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \
+  && sudo cmake --build . --target EP_mnmlstc_core \
+  && cmake --build . \
+  && sudo cmake --build . --target install
+
+RUN touch DEBUG-15.txt
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos \
+  && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+  && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+  && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+  && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+RUN vcs import src < "${DEMO_DIR}/src/mini_pupper_ros/.minipupper.repos"
+
+# HACK: Move out package whose build still fails
+RUN /bin/mkdir -p ../NO_src \
+  && for d in champ ros2_controllers; do mv "src/$d" "../NO_src/"; done
+
+# Build the demo
+RUN /bin/bash -c '\
+  source "${SPACEROS_DIR}/install/setup.bash" \
+  && source "${MOVEIT2_DIR}/install/setup.bash" \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# === TODO: The command above fails ============================================
+# --- stderr: forward_command_controller                            
+# CMake Error at CMakeLists.txt:26 (find_package):
+#   By not providing "Findcontroller_interface.cmake" in CMAKE_MODULE_PATH this
+#   project has asked CMake to find a package configuration file provided by
+#   "controller_interface", but CMake did not find one.
+# 
+#   Could not find a package configuration file provided by
+#   "controller_interface" with any of the following names:
+# 
+#     controller_interfaceConfig.cmake
+#     controller_interface-config.cmake
+# 
+#   Add the installation prefix of "controller_interface" to CMAKE_PREFIX_PATH
+#   or set "controller_interface_DIR" to a directory containing one of the
+#   above files.  If "controller_interface" provides a separate development
+#   package or SDK, be sure it has been installed.
+# 
+# 
+# ---
+# Failed   <<< forward_command_controller [1.84s, exited with code 1]
+# ==============================================================================
+
+RUN touch DEBUG-21.txt
+
+# # Add the user to the render group so that the user can access /dev/dri/renderD128
+# RUN sudo usermod -aG render $USERNAME
+
+# # Setup the entrypoint
+# COPY ./entrypoint.sh /
+# ENTRYPOINT ["/entrypoint.sh"]
+# CMD ["bash"]
+
+# EOF
diff --git a/freisa_on_mars/README.md b/freisa_on_mars/README.md
new file mode 100644
index 00000000..e8741998
--- /dev/null
+++ b/freisa_on_mars/README.md
@@ -0,0 +1,73 @@
+# FREISA Robot Dog with Space ROS Mars Rover Demo
+
+## Introduction
+
+This demo integrates the simulation of the [FREISA Robot Dog](https://github.com/B-AROL-O/FREISA) (based on the [Mini Pupper 2 Pro](https://www.kickstarter.com/projects/mdrobotkits/md-robot-kits-open-source-support-your-genai-creativity) by [MangDang (HK) Limited](https://mangdang.store/)) inside the [Space ROS Mars Rover demo](https://space-ros.github.io/docs/rolling/Demos.html).
+
+This code is a part of the following challenge:
+
+* Challenge Name: NASA Space ROS Sim Summer Sprint Challenge
+* Team Lead Freelancer Username: [@gmacario](https://www.freelancer.com/u/gmacario)
+* Submission Title: Integrate FREISA Robot Dog with Space ROS Mars Rover Demo
+
+[![FREISA meets NASA Space ROS](https://img.youtube.com/vi/KcfOwAC_WE0/0.jpg)](https://www.youtube.com/watch?v=KcfOwAC_WE0 "FREISA meets NASA Space ROS")
+
+<!--
+## Directory Overview
+
+TODO
+-->
+
+<!--
+## Dependencies
+
+TODO
+-->
+
+<!--
+## Build Instructions
+
+TODO
+-->
+
+<!--
+## Usage Instructions
+
+TODO
+-->
+
+<!--
+## Architecture and design choices
+
+TODO
+-->
+
+## Added bonus
+
+The proposed feature is only dealing with the integration of the [Mini Pupper 2](https://github.com/mangdangroboticsclub) robot inside Space ROS demo.
+However, once the PR is merged, as an added bonus it should be possible to instantiate in the Space ROS Demo any of the quadruped robots supported by [CHAMP](https://github.com/chvmp/champ):
+
+![champ](https://raw.githubusercontent.com/chvmp/champ/master/docs/images/robots.gif)
+
+## Authors
+
+The FREISA Robot Dog with Space ROS Mars Rover Demo is another fine project by [the B-AROL-O Team](https://github.com/B-AROL-O) - a group of friends who in their spare time enjoy creating fun projects with Robotics, Computer Vision and [LEGO®](https://www.lego.com/).
+
+Everything we do - both hardware and software - is Open Source and [shared on GitHub](https://github.com/B-AROL-O).
+
+Our projects have been awarded several prizes in worldwide competitions on Computer Vision and robotics.
+As an example, project "[Four-legged Robot Ensuring Intelligent Sprinkler Automation](https://www.hackster.io/projects/845012)" (a.k.a. [FREISA](https://github.com/B-AROL-O/FREISA)) - was the Grand Prize Winner 🥇 of the [OpenCV AI Competition 2023](https://www.hackster.io/contests/opencv-ai-competition-2023) with [OpenCV](https://www.hackster.io/opencv), [Khadas](https://www.hackster.io/khadas) and [Seeed Studio](https://www.hackster.io/seeed).
+
+[![OpenCV AI Competition 2023 Grand Prize Winners - OpenCV Live 126](https://img.youtube.com/vi/iUe4N7yvpmA/0.jpg)](https://www.youtube.com/watch?v=iUe4N7yvpmA "OpenCV AI Competition 2023 Grand Prize Winners - OpenCV Live 126")
+
+### How to get in touch
+
+You can reach out to us through the following platforms:
+
+* [![Instagram](https://img.icons8.com/small/16/000000/instagram-new.png)](https://instagram.com/baroloteam) Instagram: [@baroloteam](https://instagram.com/baroloteam)
+
+* [![Twitter](https://img.icons8.com/small/16/000000/twitter.png)](https://x.com/baroloteam) X: [@baroloteam](<https://x.com/baroloteam>)
+
+* [![GitHub](https://img.icons8.com/small/16/000000/github.png)](https://github.com/B-AROL-O) GitHub: [B-AROL-O](https://github.com/B-AROL-O)
+
+<!-- EOF -->
diff --git a/freisa_on_mars/build.sh b/freisa_on_mars/build.sh
new file mode 100755
index 00000000..2624a647
--- /dev/null
+++ b/freisa_on_mars/build.sh
@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+ORG=baroloteam
+IMAGE=freisa_on_mars
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building freisa_on_mars Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+
+# EOF
diff --git a/freisa_on_mars/demo_manual_pkgs.repos b/freisa_on_mars/demo_manual_pkgs.repos
new file mode 100644
index 00000000..f9c1a844
--- /dev/null
+++ b/freisa_on_mars/demo_manual_pkgs.repos
@@ -0,0 +1,77 @@
+# freisa_on_mars/demo_manual_pkgs.repos
+#
+# Adapted from https://github.com/space-ros/docker/blob/main/space_robots
+
+repositories:
+  demos:
+    type: git
+    # FIXME: Update url/version once <https://github.com/space-ros/demos/pull/56> is merged
+    #  url: https://github.com/space-ros/demos.git
+    url: https://github.com/B-AROL-O/space-ros-demos.git
+    #  version: main
+    #  version: freisa_on_mars
+    version: dev-gmacario
+
+  # === Repositories used by space_robots ===
+  # See https://github.com/space-ros/docker/blob/main/space_robots/demo_manual_pkgs.repos
+
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/tonylitianyu/ros2_controllers.git
+    version: effort_group_position_controller_2
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  ros_gz:
+     type: git
+     url: https://github.com/gazebosim/ros_gz.git
+     version: humble
+  simulation:
+    type: git
+    url: https://github.com/space-ros/simulation.git
+    version: main
+  ros-humble-warehouse-ros-mongo:
+    type: git
+    url: https://github.com/moveit/warehouse_ros_mongo.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d
+
+  # === Extra repositories required by freisa_on_mars ===
+  mini_pupper_ros:
+    type: git
+    url: https://github.com/B-AROL-O/mini_pupper_ros.git
+    version: ros2-dev
+
+  # From https://github.com/B-AROL-O/mini_pupper_ros/blob/ros2-dev/.minipupper.repos
+  # TODO: vcs import < mini_pupper_ros/.minipupper.repos --recursive
+  champ/champ:
+    type: git
+    url: https://github.com/mangdangroboticsclub/champ.git
+    version: ros2
+  champ/champ_teleop:
+    type: git
+    url: https://github.com/chvmp/champ_teleop.git
+    version: ros2
+  ldlidar_stl_ros:
+    type: git
+    url: https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2.git
+    version: master
+
+# EOF
diff --git a/freisa_on_mars/entrypoint.sh b/freisa_on_mars/entrypoint.sh
new file mode 100755
index 00000000..d1b51f26
--- /dev/null
+++ b/freisa_on_mars/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+source "${DEMO_DIR}/install/setup.bash"
+exec "$@"
diff --git a/freisa_on_mars/excluded-pkgs.txt b/freisa_on_mars/excluded-pkgs.txt
new file mode 100644
index 00000000..890bc003
--- /dev/null
+++ b/freisa_on_mars/excluded-pkgs.txt
@@ -0,0 +1,10 @@
+fastcdr
+fastrtps
+fastrtps_cmake_module
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rmw_connextdds
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+urdfdom_headers
diff --git a/freisa_on_mars/moveit2-pkgs.txt b/freisa_on_mars/moveit2-pkgs.txt
new file mode 100644
index 00000000..7aa8a566
--- /dev/null
+++ b/freisa_on_mars/moveit2-pkgs.txt
@@ -0,0 +1,38 @@
+ackermann_msgs
+angles
+backward_ros
+control_msgs
+control_toolbox
+eigen_stl_containers
+geometric_shapes
+graph_msgs
+ignition/ignition_cmake2_vendor
+ignition/ignition_math6_vendor
+image_common
+interactive_markers
+joint_state_publisher
+laser_geometry
+launch_param_builder
+moveit_msgs
+moveit_resources
+moveit_task_constructor
+navigation_msgs
+object_recognition_msgs
+octomap
+ompl
+orocos_kinematics_dynamics
+py_binding_tools
+python_qt_binding
+random_numbers
+realtime_tools
+resource_retriever
+ros2_control
+ros2_controllers
+ruckig
+rviz2
+srdfdom
+urdf_parser_py
+vision_opencv
+warehouse_ros
+xacro
+yaml_cpp_vendor
diff --git a/freisa_on_mars/moveit2_tutorials.repos b/freisa_on_mars/moveit2_tutorials.repos
new file mode 100644
index 00000000..d06986a9
--- /dev/null
+++ b/freisa_on_mars/moveit2_tutorials.repos
@@ -0,0 +1,18 @@
+repositories:
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/moveit/moveit_task_constructor.git
+    version: humble
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/moveit/moveit_visual_tools
+    version: ros2
+  rosparam_shortcuts:
+    type: git
+    url: https://github.com/PickNikRobotics/rosparam_shortcuts
+    version: ros2
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+    version: ros2
+
diff --git a/freisa_on_mars/octomap_fix.diff b/freisa_on_mars/octomap_fix.diff
new file mode 100644
index 00000000..ea500e04
--- /dev/null
+++ b/freisa_on_mars/octomap_fix.diff
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cd3112a..72403c5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -36,7 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
+ )
+
+ install(DIRECTORY include/
+-        DESTINATION include
++        DESTINATION include/${PROJECT_NAME}
+         FILES_MATCHING PATTERN "*.h"
+         PATTERN ".svn" EXCLUDE)
+
diff --git a/freisa_on_mars/run.sh b/freisa_on_mars/run.sh
new file mode 100755
index 00000000..7478817a
--- /dev/null
+++ b/freisa_on_mars/run.sh
@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   an X server
+
+IMG_NAME=baroloteam/freisa_on_mars
+
+# Replace `/` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
+
+# Sanity checks
+if [ -z "$DISPLAY" ]; then
+    export DISPLAY=:0
+    echo "Warning: DISPLAY undefined, set to $DISPLAY"
+fi
+if [ -z "$TERM" ]; then
+    export TERM=xterm
+    echo "Warning: TERM undefined, set to $TERM"
+fi
+if [ -z "$XAUTHORITY" ]; then
+    export XAUTHORITY=~/.Xauthority
+    echo "Warning: XAUTHORITY undefined, set to $XAUTHORITY"
+    xauth extract \- $DISPLAY >>$XAUTHORITY
+fi
+
+# Start the container
+#
+# --rm: delete container after exiting
+# -it: Interactive TTY mode so you can use a shell.
+# --network host: Does not isolate Docker container from host's network interfaces.
+#                 Allows all traffic to pass through as if it originated from the host.
+#                 In our case, useful for DDS traffic for ROS.
+# -e DISPLAY: Pass the X11 display through to the container.
+# -e TERM: Pass the kind of terminal being used through to the container.
+# -e QT_X11_NO_MITSHM=1: Disables shared memory extension for Qt/X11, which does not work consistently inside a process namespace like a container.
+# -v "$XAUTHORITY:/.Xauthority": the $XAUTHORITY environment variable on the host contains the path to a file that grants access to X11.
+#                                We mount the path defined in that environment variable into the container at /.Xauthority.
+# -e XAUTHORITY=/.Xauthority: We set $XAUTHORITY *inside* the container to the place we just mounted the Xauthority (/.Xauthority)
+#
+# Credits:
+# * https://github.com/space-ros/docker/pull/168
+# * https://github.com/space-ros/docker/pull/175
+#
+docker run --rm -it --name $CONTAINER_NAME \
+    --network host \
+    --volume=/tmp/.X11-unix:/tmp/.X11-unix \
+    --volume "$XAUTHORITY:/.Xauthority" \
+    --device=/dev/dri:/dev/dri \
+    -e DISPLAY \
+    -e TERM \
+    -e QT_X11_NO_MITSHM=1 \
+    -e XAUTHORITY=/.Xauthority \
+    $IMG_NAME
+
+
+# EOF