diff --git a/docs/10-prerequisities/30-docker/60-airgapped-machines.md b/docs/10-prerequisities/30-docker/60-airgapped-machines.md
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----
-title: Airgapped machines
-pagination_label: Working with airgapped machines
-description: How to work with airgapped machines
----
-
-# Airgapped machines with Docker
diff --git a/docs/10-prerequisities/30-docker/60-offline-machines.md b/docs/10-prerequisities/30-docker/60-offline-machines.md
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+---
+title: Offline machines
+pagination_label: Working with offline machines
+description: How to work with offline machines
+---
+
+# Offline machines with Docker
diff --git a/docs/10-prerequisities/32-portainer.md b/docs/10-prerequisities/32-portainer.md
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index 1dee8bc5..00000000
--- a/docs/10-prerequisities/32-portainer.md
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----
-title: Portainer.io
-pagination_label: Deploying Docker with Portainer.io
-description: Deploying Docker with Portainer.io
----
-
-# Portainer.io
diff --git a/docs/10-prerequisities/32-portainer/01-starting.md b/docs/10-prerequisities/32-portainer/01-starting.md
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+---
+title: Starting Portainer
+pagination_label: Starting Portainer
+description: Starting Portainer
+---
+
+# Starting Portainer
+
+Portainer can be started using a simple compose session.
+By default, the containers will respawn when the computer restarts.
+
+## Portainer Agent
+
+The Portainer Agent is responsible for communicating with the local docker daemon.
+
+
+Compose file
+
+```yaml
+services:
+
+ portainer_agent:
+
+ image: portainer/agent:2.21.0
+
+ ports:
+ - 9001:9001
+
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - /var/lib/docker/volumes:/var/lib/docker/volumes
+ - /:/host
+
+ restart: always
+```
+
+
+
+## Portainer Server
+
+The Portainer Server is what creates the Web UI.
+A single server can be connected to more than one **agent**.
+
+
+Compose file
+
+```yaml
+volumes:
+
+ portainer_data:
+
+services:
+
+ portainer:
+
+ image: portainer/portainer-ce:2.21.0
+
+ ports:
+ - 8000:8000
+ - 9000:9000
+ - 9443:9443
+
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - portainer_data:/data
+
+ restart: always
+
+ command: --http-enabled
+```
+
+
+
+## Both the Agent and the Server on a single machine
+
+In case of a single robot, we might run both on a single machine.
+In that case, a single session for both will suffice.
+
+
+Compose file
+
+```yaml
+volumes:
+
+ portainer_data:
+
+services:
+
+ portainer_agent:
+
+ image: portainer/agent:2.21.2
+
+ network_mode: host
+
+ ports:
+ - 9001:9001
+
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - /var/lib/docker/volumes:/var/lib/docker/volumes
+ - /:/host
+
+ restart: always
+
+ portainer:
+
+ image: portainer/portainer-ce:2.21.2
+
+ network_mode: host
+
+ ports:
+ - 8000:8000
+ - 9000:9000
+ - 9443:9443
+
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - portainer_data:/data
+
+ restart: always
+
+ command: --http-enabled
+
+```
+
+
diff --git a/docs/10-prerequisities/32-portainer/10-connecting-to.md b/docs/10-prerequisities/32-portainer/10-connecting-to.md
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+---
+title: Connecting to Portainer
+pagination_label: Connecting to Portainer
+description: Connecting to Portainer
+---
+
+# Connecting to portainer
+
+1. Open your web browser
+2. Determine the hostname of the machine that run Portainer (e.g., `localhost`, or `uav1`)
+3. Open the url [https://localhost:9443](https://localhost:9443) (substitude your hostname)
+
+
diff --git a/docs/10-prerequisities/32-portainer/50-example-stacks.md b/docs/10-prerequisities/32-portainer/50-example-stacks.md
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+---
+title: Example stacks
+pagination_label: Example Portainer stacks (compose sessions)
+description: Example Portainer stacks (compose sessions)
+---
+
+# Example stacks
+
+Stacks are **docker compose sessions** within portainer.
+As in vanilla docker, stacks are defined by a [compose file](/docs/prerequisities/docker/compose-sessions).
+Moreover, a set of environment varibles is defined _by hand_ in Portainer, which can define how the session behave.
+
+## Example simulation session
+
+An example simulation session is located at [mrs_docker/tree/master/compose/1.5.0/portainer](https://github.com/ctu-mrs/mrs_docker/tree/master/compose/1.5.0/portainer).
+Custom configs for the MRS UAV System are supposed to be packed into a transport docker image.
+The subfolder `custom_configs` containes the example custom cofigs and scripts for build an image that is going to unload the configs during the runtime for the running containers.
+
+
+Compose file
+
+```yaml
+volumes:
+
+ shared_data:
+
+ bag_files:
+
+ logs:
+
+services:
+
+ # will copy session-specific data shared between containers from the shared_data container to a shared volume
+ copy_shared_data:
+ image: ctumrs/gazebo_simulator:shared_data
+ volumes:
+ - shared_data:/tmp/docker/shared_data:consistent
+ tty: true
+ command: sh -c "rm -rvf /tmp/docker/shared_data/*; mkdir -pv /tmp/docker/shared_data; cp -rv /etc/docker/shared_data/* /tmp/docker/shared_data/"
+
+ roscore:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ depends_on:
+ - copy_shared_data
+ env_file:
+ - ./stack.env
+ tty: true
+ command: roscore
+
+ gazebo_simulator:
+ depends_on:
+ - roscore
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ # mount the folders below to enable passing GUI to the host
+ - /dev/dri:/dev/dri
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ env_file:
+ - ./stack.env
+ environment:
+ DISPLAY: $DISPLAY
+ tty: true
+ command: bash -c "waitForRos && roslaunch mrs_uav_gazebo_simulation simulation.launch world_name:=grass_plane gui:=true"
+
+ spawn:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c 'waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 --$$UAV_TYPE --enable-rangefinder"'
+
+ hw_api:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForTime && roslaunch mrs_uav_px4_api api.launch"
+
+ uav_core:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$$UAV_TYPE.yaml custom_config:=/etc/docker/shared_data/custom_config.yaml world_config:=/etc/docker/shared_data/world_config.yaml network_config:=/etc/docker/shared_data/network_config.yaml"
+
+ automatic_start:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch custom_config:=/etc/docker/shared_data/automatic_start.yaml"
+
+ # starts `rosbag record`
+ rosbag:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - bag_files:/etc/docker/bag_files:consistent
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForTime && /etc/docker/shared_data/record.sh"
+
+ takeoff:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForControl && rosservice call /uav1/hw_api/arming 1 && sleep 1 && rosservice call /uav1/hw_api/offboard"
+
+ rviz:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ # mount the folders below to enable passing GUI to the host
+ - /dev/dri:/dev/dri
+ env_file:
+ - ./stack.env
+ environment:
+ DISPLAY: $DISPLAY
+ tty: true
+ command: bash -c "waitForHw && roslaunch mrs_uav_core rviz.launch"
+
+ rviz_interface:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - roscore
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ # mount the folders below to enable passing GUI to the host
+ - /dev/dri:/dev/dri
+ env_file:
+ - ./stack.env
+ environment:
+ DISPLAY: $DISPLAY
+ tty: true
+ command: bash -c "waitForHw && roslaunch mrs_rviz_plugins rviz_interface.launch"
+
+ dogtail:
+ image: klaxalk/dogtail:latest
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - logs:/etc/logs:consistent
+
+ # this container can be used to access a terminal with ROS inside the compose session
+ terminal:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ env_file:
+ - ./stack.env
+ entrypoint: ["/bin/bash", "-c"]
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ - bag_files:/etc/docker/bag_files:consistent
+ - /dev/:/dev/
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ command:
+ - bash --rcfile /opt/ros/noetic/setup.bash
+ privileged: true
+ stdin_open: true
+ tty: true
+```
+
+
+
+
+Environment variables
+
+```bash
+RUN_TYPE=simulation
+UAV_NAME=uav1
+UAV_TYPE=x500
+ROS_MASTER_URI=http://localhost:11311
+MRS_UAV_SYSTEM_VERSION=1.5.0
+DISPLAY=:0
+```
+
+
+
+## Example realworld UAV session
+
+An example realworld session is located at [mrs_docker/tree/master/compose/1.5.0/portainer](https://github.com/ctu-mrs/mrs_docker/tree/master/compose/1.5.0/portainer).
+Custom configs for the MRS UAV System are supposed to be packed into a transport docker image.
+The subfolder `custom_configs` containes the example custom cofigs and scripts for build an image that is going to unload the configs during the runtime for the running containers.
+
+
+Compose file
+
+```yaml
+volumes:
+
+ shared_data:
+
+ bag_files:
+
+ logs:
+
+services:
+
+ # will copy session-specific data shared between containers from the shared_data container to a shared volume
+ copy_shared_data:
+ image: shared_data_gnss
+ volumes:
+ - shared_data:/tmp/docker/shared_data:consistent
+ tty: true
+ command: sh -c "rm -rvf /tmp/docker/shared_data/*; mkdir -pv /tmp/docker/shared_data; cp -rv /etc/docker/shared_data/* /tmp/docker/shared_data/"
+
+ # starts roscore
+ # this is the first container in the ROS pipeline
+ roscore:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ depends_on:
+ - copy_shared_data
+ env_file:
+ - ./stack.env
+ tty: true
+ command: roscore
+
+ # after roscore is started
+ # -> set a parameter that tells the system that simulation time is NOT used
+ # this container then stops
+ rostime:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ depends_on:
+ - roscore
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForRos && rosparam set use_sim_time false"
+
+ # starts the HW API for connecting the MRS UAV System to PX4
+ hw_api:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - rostime
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ - /dev/:/dev/
+ privileged: true
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForTime && roslaunch mrs_uav_px4_api api.launch"
+
+ # starts the MRS UAV System's core
+ uav_core:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - rostime
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_deployment`/config/mrs_uav_system/${UAV_TYPE}.yaml custom_config:=/etc/docker/shared_data/custom_config.yaml world_config:=/etc/docker/shared_data/world_local.yaml network_config:=/etc/docker/shared_data/network_config.yaml"
+
+ # starts the node that handles automatic initialization of the system and takeoff
+ automatic_start:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - rostime
+ network_mode: host
+ volumes:
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch"
+
+ # starts `rosbag record`
+ rosbag:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ depends_on:
+ - rostime
+ network_mode: host
+ volumes:
+ - bag_files:/etc/docker/bag_files:consistent
+ - shared_data:/etc/docker/shared_data:consistent
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForTime && /etc/docker/shared_data/record.sh"
+
+ rosbridge:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ env_file:
+ - ./stack.env
+ tty: true
+ command: bash -c "waitForRos && roslaunch rosbridge_server rosbridge_websocket.launch"
+
+ dogtail:
+ image: klaxalk/dogtail:latest
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - logs:/etc/logs:consistent
+
+ # this container can be used to access a terminal with ROS inside the compose session
+ terminal:
+ image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
+ network_mode: host
+ depends_on:
+ - rostime
+ env_file:
+ - ./stack.env
+ entrypoint: ["/bin/bash", "-c"]
+ volumes:
+ - bag_files:/etc/docker/bag_files:consistent
+ - shared_data:/etc/docker/shared_data:consistent
+ - /dev/:/dev/
+ command:
+ - bash --rcfile /opt/ros/noetic/setup.bash
+ privileged: true
+ stdin_open: true
+ tty: true
+```
+
+
+
+
+Environment variables
+
+```bash
+RUN_TYPE=realworld
+UAV_NAME=uav80
+UAV_TYPE=x500
+ROS_MASTER_URI=http://localhost:11311
+UAV_MASS=2.0
+MRS_UAV_SYSTEM_VERSION=1.5.0
+```
+
+
diff --git a/docs/10-prerequisities/32-portainer/fig/portainer_login.png b/docs/10-prerequisities/32-portainer/fig/portainer_login.png
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+---
+title: Portainer.io
+pagination_label: Deploying Docker with Portainer.io
+description: Deploying Docker with Portainer.io
+---
+
+# Portainer.io
+
+[Portainer](https://www.portainer.io/) can be described as a **web UI for docker**.
+It allows you to easily
+* manage existing docker images on your robot,
+* upload new docker images (either throught Docker API or by file upload),
+* create and edit compose sessions,
+* start and stop compose sessions,
+* inspect and manager docker volumes,
+* introspect and manage running containers.
+
+import DocCardList from '@theme/DocCardList';
+
+