diff --git a/docs/configuration.md b/docs/configuration.md
index 4fabe36953b74a56f013ec643829114eb64a143e..ae6850856d4e058796a129f25747052627adbb9d 100644
--- a/docs/configuration.md
+++ b/docs/configuration.md
@@ -1,18 +1,46 @@
 # Configuration
 
-* Velodyne PUCK
-    * Create ethernet connection with 192.168.1.100 (Velodyne PUCK IP address: 192.168.1.201)
-* Pioneer 
+1. Velodyne PUCK
+    * Find out the interface where the Velodyne PUCK is connected. (enp0s31f6)
+    * Create an ethernet connection for that interface with
+        * Profile name: Velodyne
+        * Device: 00:01:C0:20:D0:BF (enp0s31f6)
+        * IPv4 Configuration \<Manual>
+            * Address 192.168.1.100/24 (same range as Velodyne PUCK, which has IP address 192.168.1.201)
+            * Enable: "Never use this network for default route"
+1. Pioneer 
     * Add user to dialout: ```sudo adduser ana dialout```
     * Add udev rule [99-ftdi.rules](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/Pioneer3/iri_pioneer3_bringup/blob/master/udev/99-ftdi.rules) to ```/etc/udev/rules.d```
-* PS3joy
+
+1. PS3joy
     * Follow pairing instructions: [iri_teleop_launch/docs/ps3joy_bluetooth_pairing.md](https://gitlab.iri.upc.edu/labrobotica/ros/navigation/iri_teleop_launch/blob/master/docs/ps3joy_bluetooth_pairing.md)
     * Add udev rule [99-ps3joy.rules](https://gitlab.iri.upc.edu/labrobotica/ros/navigation/iri_teleop_launch/blob/master/scripts/99-ps3joy.rules) to ```/etc/udev/rules.d```
-* Screen: follow resolution and calibration instructions: [iri_ana_how_to/docs/config/screen.md](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to/blob/master/docs/config/screen.md)
 
-* Wifi hotspot: TO DO
+1. Screen: follow resolution and calibration instructions: [iri_ana_how_to/docs/config/screen.md](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to/blob/master/docs/config/screen.md)
+
+1. ROS Network setup 
+    * Onboard computer
+        * Default setup is enough, where ROS_MASTER_URI=http://localhost:11311, ROS_IP/ROS_HOSTNAME empty.
+    * External computer connected to wifi hotspot, received IP address 10.42.0.XYZ.
+        * `export ROS_MASTER_URI=http://10.42.0.1:11311`
+        * `export ROS_IP=10.42.0.XYZ`
+
+1. Wifi hotspot
+  * Create wifi hotspot using NetworkManager through terminal gui command line
+    * **Note**: works for some dongles only. Otherwise, getting “Incorrect password” when trying to connect.
+    * `sudo nmtui`
+      * Edit a connection > Add > Wi-fi > Create
+      * SSID: choose a name, for example, ana_hotspot
+      * Mode \<Access Point>
+      * Security \<WPA & WPA2 Personal>
+      * Password: choose a password
+      * IPv4 Configuration: \<Shared>
+      * IPv6 Configuration: \<Ignore>
+    * To enable/disable wifi: 
+        * `sudo nmcli radio wifi on` 
+        * `sudo nmcli radio wifi on`
+    * To enable/disable connection/hotspot
+        * `sudo nmcli con up id ana_hotspot`
+        * `sudo nmcli con down id ana_hotspot`
 
-* ROS Network setup: TO DO 
-    * ROS_MASTER_URI
-    * ROS_IP