diff --git a/docker-compose.yml b/docker-compose.yml
index 069942c..8f67b4a 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,170 +1,162 @@
-# ROS Tutorial Talker
-talker:
-  # build: ros-tutorials/.
-  image: toddsampson:ros-indigo-tutorials
-  container_name: talker
-  hostname: talker
-  net: rosdocker
-  environment:
+version: '2'
+
+services:
+  # ROS Tutorial Talker
+  talker:
+    # build: ros-tutorials/.
+    image: toddsampson:ros-indigo-tutorials
+    container_name: talker
+    hostname: talker
+    environment:
       - "ROS_HOSTNAME=talker"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  # command: bash
-  command: rosrun roscpp_tutorials talker
+    # command: bash
+    command: rosrun roscpp_tutorials talker
 
-# ROS Tutorial Listener
-listener:
-  # build: ros-tutorials/.
-  image: toddsampson:ros-indigo-tutorials
-  container_name: listener
-  hostname: listener
-  net: rosdocker
-  environment:
+  # ROS Tutorial Listener
+  listener:
+    # build: ros-tutorials/.
+    image: toddsampson:ros-indigo-tutorials
+    container_name: listener
+    hostname: listener
+    environment:
       - "ROS_HOSTNAME=listener"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  # command: bash
-  command: rosrun roscpp_tutorials listener
+    # command: bash
+    command: rosrun roscpp_tutorials listener
 
-# ROS Structure Sensor
-structure_sensor:
-  # build: ros-structure_sensor/.
-  image: toddsampson/ros-indigo-structure_sensor
-  container_name: structure_sensor
-  hostname: structure_sensor
-  volumes_from:
+  # ROS Structure Sensor
+  structure_sensor:
+    # build: ros-structure_sensor/.
+    image: toddsampson/ros-indigo-structure_sensor
+    container_name: structure_sensor
+    hostname: structure_sensor
+    volumes_from:
       - "rosmaster"
-  net: rosdocker
-  devices:
+    devices:
       - "/dev/bus/usb:/dev/bus/usb"
-  volumes:
+    volumes:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
-  environment:
+    environment:
       - "DISPLAY=$DISPLAY"
       - "ROS_HOSTNAME=structure_sensor"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  # command: bash
-  command: roslaunch openni2_launch openni2.launch rgb_processing:=False depth_registration:=True
+    # command: bash
+    command: roslaunch openni2_launch openni2.launch rgb_processing:=False depth_registration:=True
 
-# ROS USBCAM
-usbcam:
-  # build: ros-usbcam/.
-  image: toddsampson/ros-indigo-usbcam
-  container_name: usbcam
-  hostname: usbcam
-  net: rosdocker
-  devices:
+  # ROS USBCAM
+  usbcam:
+    # build: ros-usbcam/.
+    image: toddsampson/ros-indigo-usbcam
+    container_name: usbcam
+    hostname: usbcam
+    devices:
       - "/dev/bus/usb:/dev/bus/usb"
-  environment:
+    environment:
       - "ROS_HOSTNAME=usbcam"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  command: rosrun libuvc_camera camera_node _height:=480 _width:=640 _vendor:=2084 _video_mode:=uncompressed _frame_rate:=30
+    command: rosrun libuvc_camera camera_node _height:=480 _width:=640 _vendor:=2084 _video_mode:=uncompressed _frame_rate:=30
 
-# ROS Leap Motion
-leap_motion:
-  # build: ros-leap_motion/.
-  image: toddsampson/ros-indigo-leap_motion
-  container_name: leap_motion
-  hostname: leap_motion
-  volumes_from:
+  # ROS Leap Motion
+  leap_motion:
+    # build: ros-leap_motion/.
+    image: toddsampson/ros-indigo-leap_motion
+    container_name: leap_motion
+    hostname: leap_motion
+    volumes_from:
       - "rosmaster"
-  net: rosdocker
-  privileged: true
-  devices:
+    privileged: true
+    devices:
       - "/dev/bus/usb:/dev/bus/usb"
-  volumes:
+    volumes:
       # - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
       - "/tmp/.X11-unix:/tmp/.X11-unix"
-  environment:
+    environment:
       - "QT_X11_NO_MITSHM=1"
       - "DISPLAY=$DISPLAY"
       - "ROS_HOSTNAME=leap_motion"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  ports:
+    ports:
       - "6437:6437"
-  command: bash
-  # command: rosrun leap_motion sender.py
+    command: bash
+    # command: rosrun leap_motion sender.py
 
-# ROS Image View
-image_view:
-  # build: ros-image_pipeline/.
-  image: toddsampson/ros-indigo-image_pipeline
-  container_name: image_view
-  hostname: image_view
-  volumes_from:
+  # ROS Image View
+  image_view:
+    # build: ros-image_pipeline/.
+    image: toddsampson/ros-indigo-image_pipeline
+    container_name: image_view
+    hostname: image_view
+    volumes_from:
       - "rosmaster"
-  net: rosdocker
-  volumes:
+    volumes:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
-  environment:
+    environment:
       - "DISPLAY=$DISPLAY"
       - "ROS_HOSTNAME=image_view"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  command: rosrun image_view image_view image:=/image_raw
+    command: rosrun image_view image_view image:=/image_raw
 
-# ROS RVIZ
-rviz:
-  # build: ros-rviz/.
-  image: toddsampson/ros-indigo-rviz
-  container_name: rviz
-  hostname: rviz
-  net: rosdocker
-  volumes:
-    - "/tmp/.X11-unix:/tmp/.X11-unix"
-  environment:
+  # ROS RVIZ
+  rviz:
+    # build: ros-rviz/.
+    image: toddsampson/ros-indigo-rviz
+    container_name: rviz
+    hostname: rviz
+    volumes:
+      - "/tmp/.X11-unix:/tmp/.X11-unix"
+    environment:
       - "DISPLAY=$DISPLAY"
       - "ROS_HOSTNAME=rviz"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  command: rosrun rviz rviz
+    command: rosrun rviz rviz
 
-# ROS Actionlib
-actionlib:
-  build: ros-actionlib/.
-  # image: toddsampson:ros-indigo-actionlib
-  container_name: actionlib
-  hostname: actionlib
-  net: rosdocker
-  environment:
+  # ROS Actionlib
+  actionlib:
+    build: ros-actionlib/.
+    # image: toddsampson:ros-indigo-actionlib
+    container_name: actionlib
+    hostname: actionlib
+    environment:
       - "ROS_HOSTNAME=actionlib"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  command: bash
+    command: bash
 
-# ROS Kinect
-kinect:
-  # build: ros-kinect/.
-  image: toddsampson:ros-indigo-kinect
-  container_name: kinect
-  hostname: kinect
-  net: rosdocker
-  devices:
+  # ROS Kinect
+  kinect:
+    # build: ros-kinect/.
+    image: toddsampson:ros-indigo-kinect
+    container_name: kinect
+    hostname: kinect
+    devices:
       - "/dev/bus/usb:/dev/bus/usb"
-  environment:
+    environment:
       - "ROS_HOSTNAME=kinect"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  # command: bash
-  command: roslaunch freenect_launch freenect.launch depth_registration:=true
+    # command: bash
+    command: roslaunch freenect_launch freenect.launch depth_registration:=true
 
 
-# ROS Kinect2
-kinect2:
-  build: ros-kinect2/.
-  # image: toddsampson:ros-indigo-kinect2
-  container_name: kinect2
-  hostname: kinect2
-  net: rosdocker
-  devices:
+  # ROS Kinect2
+  kinect2:
+    build: ros-kinect2/.
+    # image: toddsampson:ros-indigo-kinect2
+    container_name: kinect2
+    hostname: kinect2
+    devices:
       - "/dev/bus/usb:/dev/bus/usb"
-  environment:
+    environment:
       - "ROS_HOSTNAME=kinect2"
       - "ROS_MASTER_URI=http://rosmaster:11311"
-  # command: bash
-  command: roslaunch kinect2_bridge kinect2_bridge.launch
+    # command: bash
+    command: roslaunch kinect2_bridge kinect2_bridge.launch
 
 
-# ROS MASTER (ROSCORE)
-rosmaster:
-  image: ros:latest
-  container_name: rosmaster
-  hostname: rosmaster
-  net: rosdocker
-  ports:
+  # ROS MASTER (ROSCORE)
+  rosmaster:
+    image: ros:latest
+    container_name: rosmaster
+    hostname: rosmaster
+    ports:
        - "11311:11311"
-  command: roscore
+    command: roscore
diff --git a/examples/ros-kinect/docker-compose.yml b/examples/ros-kinect/docker-compose.yml
new file mode 100644
index 0000000..6277ce8
--- /dev/null
+++ b/examples/ros-kinect/docker-compose.yml
@@ -0,0 +1,46 @@
+version: '2'
+
+services:
+  # ROS Kinect
+  kinect:
+    # build: ros-kinect/.
+    image: toddsampson/ros-indigo-kinect
+    container_name: kinect
+    hostname: kinect
+    devices:
+      - "/dev/bus/usb:/dev/bus/usb"
+    environment:
+      - "ROS_HOSTNAME=kinect"
+      - "ROS_MASTER_URI=http://rosmaster:11311"
+    # command: bash
+    command: roslaunch freenect_launch freenect.launch depth_registration:=true
+
+
+  # ROS Image View
+  image_view:
+    # build: ros-image_pipeline/.
+    image: toddsampson/ros-indigo-image_pipeline
+    container_name: image_view
+    hostname: image_view
+    volumes_from:
+      - "rosmaster"
+    volumes:
+      - "/tmp/.X11-unix:/tmp/.X11-unix"
+    environment:
+      - "DISPLAY=$DISPLAY"
+      - "ROS_HOSTNAME=image_view"
+      - "ROS_MASTER_URI=http://rosmaster:11311"
+    command: rosrun image_view image_view image:=/camera/depth_registered/image 
+    
+    # command: rosrun image_view image_view image:=/image_raw
+
+
+
+  # ROS MASTER (ROSCORE)
+  rosmaster:
+    image: ros:latest
+    container_name: rosmaster
+    hostname: rosmaster
+    ports:
+       - "11311:11311"
+    command: roscore
diff --git a/examples/ros-kinect/run.sh b/examples/ros-kinect/run.sh
new file mode 100755
index 0000000..00371a7
--- /dev/null
+++ b/examples/ros-kinect/run.sh
@@ -0,0 +1,75 @@
+#! /usr/bin/env bash
+
+cleanup()
+# example cleanup function
+{
+  docker-compose stop
+  docker-compose rm -f
+  xhost -
+  return $?
+}
+
+control_c()
+# run if user hits control-c
+{
+  printf "\n$MSG_HEADER SIGINT received... now calling the containers to stop...\n"
+  cleanup
+  printf "$MSG_HEADER $SCRIPT_NAME exited normally.\n"
+  exit $?
+}
+ 
+# trap keyboard interrupt (control-c)
+trap control_c SIGINT
+ 
+
+
+# ============================ Everything start from here ==============================
+
+
+
+SCRIPT_NAME="$(basename "$(test -L "$0" && readlink "$0" || echo "$0")")"
+MSG_HEADER="\e[32;1m[$SCRIPT_NAME]\e[0m"
+MSG_ERROR="\e[31;1m[ERROR]\e[0m"
+
+# Check if command "docker" is available
+if ! hash docker 2>/dev/null; then
+    printf "$MSG_HEADER$MSG_ERROR docker 1.10 or later is required!\n"
+    printf "$MSG_HEADER Visit https://docs.docker.com/engine/installation/ for installation guide\n"
+    printf "$MSG_HEADER $SCRIPT_NAME is aborted\n"
+    exit
+fi
+
+# Check if docker-compose exists.
+# If not, ask user if download docker-compose1.6.2 if it doesn't exists
+if ! hash docker-compose 2>/dev/null; then
+    printf "$MSG_HEADER docker-compose 1.6 or later is required\n"
+    printf "$MSG_HEADER Would you like to install docker-compose 1.6.2 at /usr/local/bin/docker-compose?\n"
+    printf "$MSG_HEADER This operation requires root privileges (Y/N)"
+    read -n 1 -r
+    if [[ $REPLY =~ ^[Yy]$ ]]
+    then
+        curl -L https://github.com/docker/compose/releases/download/1.6.2/docker-compose-`uname -s`-`uname -m` > .docker-compose.tmp && sudo mv .docker-compose.tmp /usr/local/bin/docker-compose
+        sudo chmod +x /usr/local/bin/docker-compose
+    else
+        printf "$MSG_HEADER$MSG_ERROR docker-compose 1.6 or later is required\n"
+        printf "$MSG_HEADER To install manually please refer to https://docs.docker.com/compose/install/\n"
+        printf "$MSG_HEADER $SCRIPT_NAME is aborted\n"
+        exit
+    fi
+fi
+
+printf "$MSG_HEADER Start running...\n"
+
+# Disable access control for X server
+xhost +
+
+# Start the nodes!
+if ! docker-compose up -d; then
+    printf "$MSG_HEADER$MSG_ERROR $SCRIPT_NAME exited on error\n"
+    exit
+fi
+
+printf "$MSG_HEADER Hit Ctrl+C to stop..\n"
+
+while true; do read x; done
+
diff --git a/examples/ros-usbcam/docker-compose.yml b/examples/ros-usbcam/docker-compose.yml
new file mode 100644
index 0000000..6afe695
--- /dev/null
+++ b/examples/ros-usbcam/docker-compose.yml
@@ -0,0 +1,44 @@
+version: '2'
+
+services:
+  usbcam:
+    # build: ros-usbcam/.
+    image: toddsampson/ros-indigo-usbcam
+    container_name: usbcam
+    hostname: usbcam
+    devices:
+      - "/dev/bus/usb:/dev/bus/usb"
+    environment:
+      - "ROS_HOSTNAME=usbcam"
+      - "ROS_MASTER_URI=http://rosmaster:11311"
+    command: rosrun libuvc_camera camera_node _height:=480 _width:=640 _vendor:=2084 _video_mode:=uncompressed _frame_rate:=30
+
+
+  # ROS Image View
+  image_view:
+    # build: ros-image_pipeline/.
+    image: toddsampson/ros-indigo-image_pipeline
+    container_name: image_view
+    hostname: image_view
+    volumes_from:
+      - "rosmaster"
+    volumes:
+      - "/tmp/.X11-unix:/tmp/.X11-unix"
+    environment:
+      - "DISPLAY=$DISPLAY"
+      - "ROS_HOSTNAME=image_view"
+      - "ROS_MASTER_URI=http://rosmaster:11311"
+    command: rosrun image_view image_view image:=/image_raw
+    
+    # command: rosrun image_view image_view image:=/image_raw
+
+
+
+  # ROS MASTER (ROSCORE)
+  rosmaster:
+    image: ros:latest
+    container_name: rosmaster
+    hostname: rosmaster
+    ports:
+       - "11311:11311"
+    command: roscore
diff --git a/examples/ros-usbcam/run.sh b/examples/ros-usbcam/run.sh
new file mode 100755
index 0000000..00371a7
--- /dev/null
+++ b/examples/ros-usbcam/run.sh
@@ -0,0 +1,75 @@
+#! /usr/bin/env bash
+
+cleanup()
+# example cleanup function
+{
+  docker-compose stop
+  docker-compose rm -f
+  xhost -
+  return $?
+}
+
+control_c()
+# run if user hits control-c
+{
+  printf "\n$MSG_HEADER SIGINT received... now calling the containers to stop...\n"
+  cleanup
+  printf "$MSG_HEADER $SCRIPT_NAME exited normally.\n"
+  exit $?
+}
+ 
+# trap keyboard interrupt (control-c)
+trap control_c SIGINT
+ 
+
+
+# ============================ Everything start from here ==============================
+
+
+
+SCRIPT_NAME="$(basename "$(test -L "$0" && readlink "$0" || echo "$0")")"
+MSG_HEADER="\e[32;1m[$SCRIPT_NAME]\e[0m"
+MSG_ERROR="\e[31;1m[ERROR]\e[0m"
+
+# Check if command "docker" is available
+if ! hash docker 2>/dev/null; then
+    printf "$MSG_HEADER$MSG_ERROR docker 1.10 or later is required!\n"
+    printf "$MSG_HEADER Visit https://docs.docker.com/engine/installation/ for installation guide\n"
+    printf "$MSG_HEADER $SCRIPT_NAME is aborted\n"
+    exit
+fi
+
+# Check if docker-compose exists.
+# If not, ask user if download docker-compose1.6.2 if it doesn't exists
+if ! hash docker-compose 2>/dev/null; then
+    printf "$MSG_HEADER docker-compose 1.6 or later is required\n"
+    printf "$MSG_HEADER Would you like to install docker-compose 1.6.2 at /usr/local/bin/docker-compose?\n"
+    printf "$MSG_HEADER This operation requires root privileges (Y/N)"
+    read -n 1 -r
+    if [[ $REPLY =~ ^[Yy]$ ]]
+    then
+        curl -L https://github.com/docker/compose/releases/download/1.6.2/docker-compose-`uname -s`-`uname -m` > .docker-compose.tmp && sudo mv .docker-compose.tmp /usr/local/bin/docker-compose
+        sudo chmod +x /usr/local/bin/docker-compose
+    else
+        printf "$MSG_HEADER$MSG_ERROR docker-compose 1.6 or later is required\n"
+        printf "$MSG_HEADER To install manually please refer to https://docs.docker.com/compose/install/\n"
+        printf "$MSG_HEADER $SCRIPT_NAME is aborted\n"
+        exit
+    fi
+fi
+
+printf "$MSG_HEADER Start running...\n"
+
+# Disable access control for X server
+xhost +
+
+# Start the nodes!
+if ! docker-compose up -d; then
+    printf "$MSG_HEADER$MSG_ERROR $SCRIPT_NAME exited on error\n"
+    exit
+fi
+
+printf "$MSG_HEADER Hit Ctrl+C to stop..\n"
+
+while true; do read x; done
+
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000..00371a7
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,75 @@
+#! /usr/bin/env bash
+
+cleanup()
+# example cleanup function
+{
+  docker-compose stop
+  docker-compose rm -f
+  xhost -
+  return $?
+}
+
+control_c()
+# run if user hits control-c
+{
+  printf "\n$MSG_HEADER SIGINT received... now calling the containers to stop...\n"
+  cleanup
+  printf "$MSG_HEADER $SCRIPT_NAME exited normally.\n"
+  exit $?
+}
+ 
+# trap keyboard interrupt (control-c)
+trap control_c SIGINT
+ 
+
+
+# ============================ Everything start from here ==============================
+
+
+
+SCRIPT_NAME="$(basename "$(test -L "$0" && readlink "$0" || echo "$0")")"
+MSG_HEADER="\e[32;1m[$SCRIPT_NAME]\e[0m"
+MSG_ERROR="\e[31;1m[ERROR]\e[0m"
+
+# Check if command "docker" is available
+if ! hash docker 2>/dev/null; then
+    printf "$MSG_HEADER$MSG_ERROR docker 1.10 or later is required!\n"
+    printf "$MSG_HEADER Visit https://docs.docker.com/engine/installation/ for installation guide\n"
+    printf "$MSG_HEADER $SCRIPT_NAME is aborted\n"
+    exit
+fi
+
+# Check if docker-compose exists.
+# If not, ask user if download docker-compose1.6.2 if it doesn't exists
+if ! hash docker-compose 2>/dev/null; then
+    printf "$MSG_HEADER docker-compose 1.6 or later is required\n"
+    printf "$MSG_HEADER Would you like to install docker-compose 1.6.2 at /usr/local/bin/docker-compose?\n"
+    printf "$MSG_HEADER This operation requires root privileges (Y/N)"
+    read -n 1 -r
+    if [[ $REPLY =~ ^[Yy]$ ]]
+    then
+        curl -L https://github.com/docker/compose/releases/download/1.6.2/docker-compose-`uname -s`-`uname -m` > .docker-compose.tmp && sudo mv .docker-compose.tmp /usr/local/bin/docker-compose
+        sudo chmod +x /usr/local/bin/docker-compose
+    else
+        printf "$MSG_HEADER$MSG_ERROR docker-compose 1.6 or later is required\n"
+        printf "$MSG_HEADER To install manually please refer to https://docs.docker.com/compose/install/\n"
+        printf "$MSG_HEADER $SCRIPT_NAME is aborted\n"
+        exit
+    fi
+fi
+
+printf "$MSG_HEADER Start running...\n"
+
+# Disable access control for X server
+xhost +
+
+# Start the nodes!
+if ! docker-compose up -d; then
+    printf "$MSG_HEADER$MSG_ERROR $SCRIPT_NAME exited on error\n"
+    exit
+fi
+
+printf "$MSG_HEADER Hit Ctrl+C to stop..\n"
+
+while true; do read x; done
+