diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 06c8da65..6212bbce 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -28,7 +28,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y -o Dpkg::Option
     ros-humble-ros2-controllers \
     ros-humble-rqt-common-plugins \
     ros-humble-webots-ros2 \
-    ros-humble-dynamixel-workbench-toolbox \ 
+    ros-humble-dynamixel-workbench-toolbox \
     ros-humble-behaviortree-cpp \
     libopencv-dev \
     python3-pip \
@@ -43,7 +43,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y -o Dpkg::Option
     vim \
     rsync \
     dialog \
-    fish 
+    fish
 
 
 
@@ -58,7 +58,7 @@ RUN su memristor -c 'code --install-extension eamodio.gitlens' && \
     su memristor -c 'code --install-extension ms-vscode.cpptools-extension-pack' && \
     su memristor -c 'code --install-extension usernamehw.errorlens' && \
     su memristor -c 'code --install-extension redhat.vscode-xml' && \
-    su memristor -c 'code --install-extension ms-iot.vscode-ros' 
+    su memristor -c 'code --install-extension ms-iot.vscode-ros'
 
 
 
@@ -69,7 +69,7 @@ RUN su memristor -c 'curl -fsSL https://code-server.dev/install.sh | sh' && \
     su memristor -c 'code-server --install-extension ms-vscode.cpptools-extension-pack' && \
     su memristor -c 'code-server --install-extension usernamehw.errorlens' && \
     su memristor -c 'code-server --install-extension redhat.vscode-xml' && \
-    su memristor -c 'code-server --install-extension ms-iot.vscode-ros' 
+    su memristor -c 'code-server --install-extension ms-iot.vscode-ros'
 
 # Webots
 RUN curl -L -o /tmp/webots.deb \
diff --git a/docker/Makefile b/docker/Makefile
index 19433f10..5fab0d56 100644
--- a/docker/Makefile
+++ b/docker/Makefile
@@ -1,3 +1,4 @@
+MAKEFLAGS+=--silent
 UID:=$(shell id -u)
 DOCKER_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 PROJECT_DIR:=$(shell dirname ${DOCKER_DIR})
@@ -7,23 +8,28 @@ IMAGE=ghcr.io/memristor/mep3
 
 .PHONY: all
 
-all: destroy test-nvidia run setup-default exec start-code-server
+all: destroy test-nvidia run setup-default
+
+colors:
+	$(eval NC=\033[1;0m)
+	$(eval RED=\033[1;31m)
+	$(eval GREEN=\033[1;32m)
+	$(eval BOLD=\033[1;37m)
 
 vnc:
 	$(eval FLAVOR=vnc)
 	$(eval IMAGE=ghcr.io/memristor/mep3-vnc)
-	@true
+	true
 
 build:
 	echo ${NO_CACHE_ARG}
-	@DOCKER_BUILDKIT=1 docker build ${DOCKER_DIR} -f ${DOCKER_DIR}/Dockerfile.base -t mep3 ${DOCKER_ARGS} --build-arg UID=${UID}
-	@[ ${FLAVOR} != 'devel' ] && \
+	DOCKER_BUILDKIT=1 docker build ${DOCKER_DIR} -f ${DOCKER_DIR}/Dockerfile.base -t mep3 ${DOCKER_ARGS} --build-arg UID=${UID}
+	[ ${FLAVOR} != 'devel' ] && \
 		DOCKER_BUILDKIT=1 docker build ${DOCKER_DIR} -f ${DOCKER_DIR}/Dockerfile.${FLAVOR} -t ${IMAGE} ${DOCKER_ARGS} || \
 		true
 
-run:
-	@${MAKE} -s test-nvidia
-	@docker run \
+run: test-nvidia
+	docker run \
 		--net=host \
 		--ipc=host \
 		--cap-add SYS_ADMIN \
@@ -37,42 +43,37 @@ run:
 		-v /dev/dri:/dev/dri:ro \
 		-v /dev:/dev:rw \
 		-v ${PROJECT_DIR}:/memristor/ros2_ws/src/mep3:rw \
-		-d -it ${IMAGE}
-
-test-nvidia:	
-	$(eval NC=\033[1;0m)
-	$(eval RED=\033[1;31m)
-	$(eval GREEN=\033[1;32m)
+		-d -it ${IMAGE} 1>/dev/null
 
-	@lspci | grep -qi nvidia && base64 --decode massage | unxz || true
-	
-	@docker run --rm \
+test-nvidia: colors
+	lspci | grep -qi nvidia && base64 --decode massage | unxz || true
+	docker run --rm \
 		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
 		-e DISPLAY=${DISPLAY} \
 		${IMAGE} | grep -qi 'nvidia' && \
 	printf '%b\n' "${RED}Detected NVIDIA GPU in system, but missing packets, look up NVIDIA GPU section in README!\n${NC}" || \
-	printf '%b\n' "${GREEN}Everything set up!${NC}"
+	true
 
 start-code-server:
-	@docker exec -d -it mep3-${FLAVOR} bash -c 'pgrep code-server || code-server /memristor/ros2_ws/src/mep3' && \
+	docker exec -d -it mep3-${FLAVOR} bash -c 'pgrep code-server || code-server /memristor/ros2_ws/src/mep3' && \
 	xdg-open 'localhost:31415?folder=/memristor/ros2_ws/src/mep3'
 
 stop-code-server:
-	@docker exec -it mep3-${FLAVOR} pkill -f code-server
+	docker exec -it mep3-${FLAVOR} pkill -f code-server
 
 exec:
-	@docker exec -it mep3-${FLAVOR} bash
+	docker exec -it mep3-${FLAVOR} bash
 
 destroy:
-	@docker container kill mep3-${FLAVOR} || true
-	@docker container rm -f mep3-${FLAVOR} || true
+	docker container kill mep3-${FLAVOR} 1>/dev/null || true
+	docker container rm -f mep3-${FLAVOR} 1>/dev/null || true
 
-setup-default:
-	@docker exec -it mep3-${FLAVOR} sh -c '/usr/bin/setup.sh --all' 
-	@echo 'Restarting mep3-${FLAVOR} container...'
-	@docker restart mep3-${FLAVOR}
+setup-default: colors
+	docker exec -it mep3-${FLAVOR} sh -c '/usr/bin/setup.sh --default'
+	printf '%b\n%b\n' "${GREEN}Default setup complete!${NC}" \
+		"Run ${BOLD}make exec${NC} or ${BOLD}docker exec -it mep3-${FLAVOR}${NC} to access the container"
 
-setup-interactive:
-	@docker exec -it mep3-${FLAVOR} sh -c '/usr/bin/setup.sh --all --interactive' 
-	@echo 'Restarting mep3-${FLAVOR} container...'
-	@docker restart mep3-${FLAVOR}
+setup-interactive: colors
+	docker exec -it mep3-${FLAVOR} sh -c '/usr/bin/setup.sh --interactive'
+	printf '%b\n%b\n' "${GREEN}Interactive setup complete!${NC}" \
+		"Run ${BOLD}make exec${NC} or ${BOLD}docker exec -it mep3-${FLAVOR}${NC} to access the container"
diff --git a/docker/config/bashrc b/docker/config/bashrc
index 6863bc16..dd0ddb92 100644
--- a/docker/config/bashrc
+++ b/docker/config/bashrc
@@ -1,8 +1,11 @@
 export WEBOTS_HOME=/usr/local/webots
 export USERNAME=default
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+if uname -v | grep -qi 'ubuntu'; then
+    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+fi
 
 alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug'
+alias rr='rm -rf /memristor/ros2_ws/build /memristor/ros2_ws/install'
 
 test -f /opt/ros/humble/local_setup.bash && \
     source /opt/ros/humble/local_setup.bash
diff --git a/docker/config/setup.sh b/docker/config/setup.sh
index e701390a..ebc00655 100755
--- a/docker/config/setup.sh
+++ b/docker/config/setup.sh
@@ -1,13 +1,11 @@
 #!/usr/bin/env bash
 
-_help=false
 _configure_proxy=false
 _vnc=false
 _first_time_ros_setup=false
 _enhanced_shell_prompt=false
 _shell_shortcuts=false
-_all=false
-interactive=false
+_interactive=false
 
 usage() {
 	echo "Usage: $0 [--help] [--configure-proxy] [--vnc] [--first-time-ros-setup] [--enhanced-shell-prompt] [--shell-shortcuts] [--interactive]"
@@ -28,7 +26,7 @@ default_configure_proxy() {
 }
 
 configure_proxy() {
-	if $interactive; then
+	if $_interactive; then
 		# FTN proxy is actually enabled here
 		if dialog --title 'mep3 config' --defaultno --yesno 'Enable UNS proxy' 5 30; then
 			sed '/# Setup_proxy/d' -i /memristor/.bashrc
@@ -44,7 +42,6 @@ configure_proxy() {
 }
 
 default_first_time_ros_setup() {
-	clear
 	sudo -E rosdep init
 	sudo -E apt-get install -y python3-vcstool
 	rosdep --rosdistro "${ROS_DISTRO}" update
@@ -52,7 +49,7 @@ default_first_time_ros_setup() {
 }
 
 first_time_ros_setup() {
-	if $interactive; then
+	if $_interactive; then
 		if dialog --title 'mep3 config' --yesno 'Run first time ROS setup' 5 30; then
 			default_first_time_ros_setup
 			return
@@ -68,7 +65,7 @@ default_enhanced_shell_prompt() {
 }
 
 enhanced_shell_prompt() {
-	if $interactive; then
+	if $_interactive; then
 		if dialog --title 'mep3 config' --yesno 'Enable enhanced shell prompt' 5 38; then
 			default_enhanced_shell_prompt
 			return
@@ -86,7 +83,7 @@ default_shell_shortcuts() {
 }
 
 shell_shortcuts() {
-	if $interactive; then
+	if $_interactive; then
 		if dialog --title 'mep3 config' --yesno 'Enable shell shortcuts' 5 30; then
 			default_shell_shortcuts
 			return
@@ -131,7 +128,7 @@ vnc() {
 		echo "TurboVNC is not installed"
 		exit 1
 	fi
-	if $interactive; then
+	if $_interactive; then
 		interactive_vnc
 		return
 	fi
@@ -141,7 +138,6 @@ vnc() {
 finalize() {
 	sed '/# Setup_shell/d' -i /memristor/.bashrc
 	echo 'echo "$-" | grep i -q && exec fish # Setup_shell' >>/memristor/.bashrc
-
 	clear
 }
 
@@ -163,46 +159,33 @@ while [ "$#" -gt 0 ]; do
 		_shell_shortcuts=true
 		;;
 	--interactive)
-		interactive=true
-		;;
-	--help)
-		_help=true
+		_interactive=true
 		;;
-	--all)
-		_all=true
+	--default)
+		_enhanced_shell_prompt=true
+		_shell_shortcuts=true
 		;;
-	*)
+	--help|*)
 		usage
 		;;
 	esac
 	shift
 done
 
-if $_help; then
-	usage
-fi
-
-if $_all; then
+if $_configure_proxy; then
 	configure_proxy
+fi
+if $_first_time_ros_setup; then
 	first_time_ros_setup
+fi
+if $_enhanced_shell_prompt; then
 	enhanced_shell_prompt
+fi
+if $_shell_shortcuts; then
 	shell_shortcuts
+fi
+if $_vnc; then
 	vnc
-else
-	if $_configure_proxy; then
-		configure_proxy
-	fi
-	if $_first_time_ros_setup; then
-		first_time_ros_setup
-	fi
-	if $_enhanced_shell_prompt; then
-		enhanced_shell_prompt
-	fi
-	if $_shell_shortcuts; then
-		shell_shortcuts
-	fi
-	if $_vnc; then
-		vnc
-	fi
 fi
+
 finalize