diff --git a/Tools/ros/docker/px4-ros-base/Dockerfile b/Tools/ros/docker/px4-ros-full/Dockerfile
similarity index 92%
rename from Tools/ros/docker/px4-ros-base/Dockerfile
rename to Tools/ros/docker/px4-ros-full/Dockerfile
index a8c3772881..be98cba583 100644
--- a/Tools/ros/docker/px4-ros-base/Dockerfile
+++ b/Tools/ros/docker/px4-ros-full/Dockerfile
@@ -1,5 +1,5 @@
 #
-# PX4 ROS base container
+# PX4 full ROS container
 #
 # TODO
 # - use https://github.com/phusion/baseimage-docker as base
@@ -55,8 +55,8 @@ RUN apt-get -y install x11-utils mesa-utils
 ENV QT_X11_NO_MITSHM 1
 
 # FIXME: this doesn't work when building from vagrant
-COPY scripts/setup-workspace.sh /root/scripts
-#RUN chmod +x /root/scripts/setup-workspace.sh
-
+COPY scripts/setup-workspace.sh /root/scripts/
+RUN chmod +x -R /root/scripts/*
+RUN chown -R root:root /root/scripts/*
 
 CMD ["/usr/bin/xterm"]
diff --git a/Tools/ros/docker/px4-ros-base/scripts/setup-workspace.sh b/Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
similarity index 100%
rename from Tools/ros/docker/px4-ros-base/scripts/setup-workspace.sh
rename to Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
index cb66d4a682..196a8fb121 100644
--- a/Tools/ros/vagrant/docker-host-base/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -9,12 +9,6 @@
 # After build, do "vagrant package --base docker-host-base" to package,
 # and import as box: "vagrant box add --name docker-host-base package.box"
 #
-# To add local docker images into the docker host, configure your local
-# docker client to control the docker daemon on the later running docker-host VM.
-# This box configures docker to listen on any IP on port 2375.
-# You can then also load an existing image, e.g.:
-# "docker load -i px4ros_ros-sitl_no-drcsim_a4209708a04a.tar"
-#
 Vagrant.configure(2) do |config|
   config.vm.box = "ubuntu/trusty64"
 
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
index 9fd4695dd5..2b85bf8e95 100644
--- a/Tools/ros/vagrant/docker-host/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -6,6 +6,12 @@
 #
 # Maintainer: Andreas Antener <andreas@uaventure.com>
 #
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the running "docker-host" VM.
+# The box ("docker-host-base") configures docker to listen on any IP on port 2375.
+# You can then load an existing image, e.g.:
+# "docker load -i container-image.tar"
+#
 Vagrant.configure(2) do |config|
   config.vm.box = "docker-host-base"
 
diff --git a/Tools/ros/vagrant/px4-ros/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
index 7009fd78ac..a122fb4a3b 100644
--- a/Tools/ros/vagrant/px4-ros/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -12,12 +12,12 @@
 # (will change, need proper docs)
 #
 # Build with multiple dependent docker containers:
-# Use the "--no-parallel" option so the containers will be built in order.
+# Use the "--no-parallel" option so the containers will be built/started in order.
 # e.g.: "vagrant up --no-parallel"
 #
 # Running apps directly:
 # "vagrant docker-run ros -- <cmd>"
-# Attention: will loose all data when stopped, vagrant runs this with "--rm"
+# Attention: will loose all data when stopped, vagrant runs docker always with "--rm"
 #
 # TODO
 # - do not run the docker container with "--rm" (vagrant default). is that even possible?
@@ -35,9 +35,9 @@ Vagrant.configure(2) do |config|
   config.vm.define "ros" do |app|
     app.vm.provider "docker" do |d|
       d.name = "ros"
-      #d.image = "px4ros/ros-base"
-      d.build_dir = "../../docker/px4-ros-base"
-      d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
+      d.image = "uaventure/px4-ros-full"
+      #d.build_dir = "../../docker/px4-ros-full"
+      #d.build_args = ["-t=uaventure/px4-ros-full"]
 
       # Share docker host x11 socket
       # Run privileged to support 3d acceleration