diff --git a/README.md b/README.md
index cb32c5f7955b9b1019e95611ad43635a167ceafa..7e7f2cdd3dae7195ae68675655c4c8ab7f015272 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,13 @@
-Docker images for ros course
\ No newline at end of file
+Docker images for ros course
+
+# Setup
+
+Build the `registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:user` images :
+
+`make docker-user`
+
+# Usage
+
+Linux : `./run.sh registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:user`
+
+Windows : launch the vnc image `registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:user-vnc`
diff --git a/makefile b/makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f8ad281b390cccfb683cf0defb5c3089fb76da88
--- /dev/null
+++ b/makefile
@@ -0,0 +1,19 @@
+# TODO: universal image name from folder_name+dockerfile_name
+registry_url=registry.gitlab.clubelek.fr/formations/ros/docker-images/
+
+all: ros-base ros-desktop ros-graphic-acceleration ros-ide
+
+.PHONY: ros-base ros-desktop ros-graphic-acceleration ros-user
+
+ros-base:
+ docker build -t ${registry_url}ros:base -f ./ros-base/Dockerfile ./ros-base
+
+ros-desktop: ros-base
+ docker build -t ${registry_url}ros:desktop -f ./ros-desktop/Dockerfile ./ros-desktop
+
+ros-graphic-acceleration: ros-desktop
+ docker build -t ${registry_url}ros:graphic-acceleration -f ./ros-graphic-acceleration/Dockerfile ./ros-graphic-acceleration
+
+ros-ide: ros-graphic-acceleration
+ docker build -t ${registry_url}ros:ide -f ./ros-ide/Dockerfile ./ros-ide
+
diff --git a/ros-base/Dockerfile b/ros-base/Dockerfile
index 007de72320b0cd5b8f056fe579c9bac656cebf5e..78fe578a72ff7e9a7387ca544e07d8ead612d717 100644
--- a/ros-base/Dockerfile
+++ b/ros-base/Dockerfile
@@ -25,7 +25,7 @@ RUN apt-get update && apt-get install -q -y \
# Install bare bones ROS Installation
RUN apt-get update && apt-get install -q -y \
- ros-$ROS_VERSION_NAME-ros-base \
+ ros-$ROS_VERSION_NAME-ros-base python3-colcon-common-extensions \
&& rm -rf /var/lib/apt/lists/*
# Add source command to root user bashrc
diff --git a/ros-desktop/Dockerfile b/ros-desktop/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..7493a7666d4dc98c89ac25025f6e905fb7e5cede
--- /dev/null
+++ b/ros-desktop/Dockerfile
@@ -0,0 +1,6 @@
+FROM registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:base
+
+# Install desktop ROS Installation
+RUN apt-get update && apt-get install -q -y \
+ ros-$ROS_VERSION_NAME-desktop \
+ && rm -rf /var/lib/apt/lists/*
diff --git a/ros-graphic-acceleration/10_nvidia.json b/ros-graphic-acceleration/10_nvidia.json
new file mode 100644
index 0000000000000000000000000000000000000000..10044b5f1a26b6dc2c2d98b45d37968fb8f2d084
--- /dev/null
+++ b/ros-graphic-acceleration/10_nvidia.json
@@ -0,0 +1,7 @@
+{
+ "file_format_version" : "1.0.0",
+ "ICD" : {
+ "library_path" : "libEGL_nvidia.so.0"
+ }
+}
+
diff --git a/ros-graphic-acceleration/Dockerfile b/ros-graphic-acceleration/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..20d81b901fea28e49a51e01f767ad62a1167f42e
--- /dev/null
+++ b/ros-graphic-acceleration/Dockerfile
@@ -0,0 +1,43 @@
+FROM registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:desktop
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+ ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+ ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,utility
+
+# Required for non-glvnd setups.
+ENV LD_LIBRARY_PATH /usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ git \
+ ca-certificates \
+ make \
+ automake \
+ autoconf \
+ libtool \
+ pkg-config \
+ python \
+ libxext-dev \
+ libx11-dev \
+ x11proto-gl-dev
+
+WORKDIR /opt/libglvnd
+RUN git clone --branch=0.1.1 https://github.com/NVIDIA/libglvnd.git . && \
+ ./autogen.sh && \
+ ./configure --prefix=/usr/local --libdir=/usr/local/lib/x86_64-linux-gnu && \
+ make -j"$(nproc)" install-strip && \
+ find /usr/local/lib/x86_64-linux-gnu -type f -name 'lib*.la' -delete
+
+COPY 10_nvidia.json /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json
+
+RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
+ echo '/usr/local/lib/i386-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
+ ldconfig
+
+ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
+
+RUN apt-get -y update && apt-get install -y zsh screen tree sudo ssh synaptic nano inetutils-ping git
+
+# Additional development tools
+RUN apt-get install -y x11-apps python-pip build-essential
diff --git a/ros-ide/Dockerfile b/ros-ide/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..401c62fdf5780f53e95dd456ee71d7b107e51284
--- /dev/null
+++ b/ros-ide/Dockerfile
@@ -0,0 +1,11 @@
+FROM registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:graphic-acceleration
+
+WORKDIR /opt
+
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -q -y \
+ eclipse \
+ jupyter \
+ && wget https://download.jetbrains.com/python/pycharm-professional-2019.2.4.tar.gz \
+ && tar -xvf pycharm-professional-2019.2.4.tar.gz \
+ && echo 'export PATH=/opt/pycharm-professional-2019.2.4/bin:${PATH}' >> /root/.bashrc \
+ && rm -rf /var/lib/apt/lists/*
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000000000000000000000000000000000000..ff37c44faeafde0ff27d4592620dfa6afec737d0
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+
+# Check args
+if [ "$#" -ne 3 ]; then
+ echo "usage: ./run.sh IMAGE_NAME CONTAINER_NAME WORKSPACE"
+ exit 1
+fi
+
+if [ ${3:0:1} == '/' ]; then
+ workspace_path=$3
+else
+ workspace_path=`pwd`/$3
+fi
+
+# Get this script's path
+pushd `dirname $0` > /dev/null
+SCRIPTPATH=`pwd`
+popd > /dev/null
+
+set -e
+
+
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+ xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+ if [ ! -z "$xauth_list" ]
+ then
+ echo $xauth_list | xauth -f $XAUTH nmerge -
+ else
+ touch $XAUTH
+ fi
+ chmod a+r $XAUTH
+fi
+
+# Run the container with shared X11
+if [ -z DOCKER_NVIDIA ]; then
+ sudo docker run\
+ --privileged\
+ --rm\
+ --net=host\
+ -e SHELL\
+ --env="DISPLAY=$DISPLAY"\
+ --env="QT_X11_NO_MITSHM=1"\
+ -env="XAUTHORITY=$XAUTH"\
+ --volume="$XAUTH:$XAUTH"\
+ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+ --volume="${workspace_path}:${HOME}/workspace" \
+ -e DOCKER=1\
+ --name $2 \
+ --runtime=nvidia \
+ -it $1 bash
+else
+ sudo docker run\
+ --privileged\
+ --rm\
+ --net=host\
+ -e SHELL\
+ --env="DISPLAY=$DISPLAY"\
+ --env="QT_X11_NO_MITSHM=1"\
+ -env="XAUTHORITY=$XAUTH"\
+ --volume="$XAUTH:$XAUTH"\
+ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+ --volume="${workspace_path}:${HOME}/workspace" \
+ -e DOCKER=1\
+ --name $2 \
+ -it $1 bash
+fi