diff --git a/Dockerfile b/Dockerfile
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+FROM osrf/ros:melodic-desktop-full
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+##Add IRI repository
+RUN apt-get update && apt-get install -y apt-utils
+RUN apt-get install -y vim wget ca-certificates xsdcxx 
+RUN sudo sh -c 'echo "deb [arch=amd64] https://labrepo.iri.upc.edu/packages $(lsb_release -cs) main" > /etc/apt/sources.list.d/labrobotica_repo.list'
+RUN wget -q -O - https://labrepo.iri.upc.edu/labrobotica_repo.gpg.key | sudo apt-key add -
+
+RUN apt-get update && apt-get install -y iri-iriutils-dev
+
+RUN cd /root
+WORKDIR /root
+
+RUN mkdir -p catkin_ws/src
+
+##Meanwhile, copy workspace with repositories
+COPY catkin_ws catkin_ws
+##TODO Uncomment when repos are public
+#RUN cd /root/catkin_ws/src && wstool init ; wstool merge -y -r /root/catkin_ws/adc_https.rosinstall ; wstool update
+
+
+##TODO Uncomment when libraries are paquetized
+#RUN apt-get update && apt-get install -y iri-opendrive-to-gazebo-dev iri-autonomous-driving-tools-dev iri-opendrive-road-map-dev
+##Meanwhile, manually compile and install the ones copied in the workspace
+##TODO: remove libraries from rosinstall when paquetized
+RUN cd /root/catkin_ws/src/adc/libraries/autonomous_driving_tools && mkdir -p build && cd build && cmake .. && make && make install
+RUN cd /root/catkin_ws/src/adc/libraries/opendrive_road_map       && mkdir -p build && cd build && cmake .. && make && make install
+RUN cd /root/catkin_ws/src/adc/libraries/opendrive_to_gazebo      && mkdir -p build && cd build && cmake .. && make
+RUN cd /root/catkin_ws/src && rosdep install -y -i -r --from-paths .
+RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && cd /root/catkin_ws && catkin_make -DCATKIN_BLACKLIST_PACKAGES='iri_model_car_driver_battery;iri_model_car_driver_ultrasounds;iri_model_car_driver_egomotion;iri_opendrive_global_planner'"
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> /root/.bashrc
+RUN /bin/bash -c "cd /root && source .bashrc"
+
+#Fix gazebo error/warning: [Err] [REST.cc:205] Error in REST request
+#RUN cd && sed -i 's/ignitionfuel/ignitionrobotics/g' .ignition/fuel/config.yaml