diff --git a/docker_env/docker-compose.yml b/docker_env/docker-compose.yml
index 0343d22..0d620fe 100644
--- a/docker_env/docker-compose.yml
+++ b/docker_env/docker-compose.yml
@@ -60,7 +60,7 @@ services:
         # Mount gazebo folder on host to app folder in container
         volumes:
             #- .docker_env/gazebo/.gazebo:/root/.gazebo
-            - ../rrrobot_ws:/app/rrrobot_ws
+            - ../src/rrrobot_ws:/app/rrrobot_ws
         # Set DISPLAY variable and network mode for GUIs
         environment:
             - DISPLAY=${IP_ADDRESS}:0.0
@@ -77,12 +77,13 @@ services:
         build: ./gear
         # Mount gear folder on host to app folder in container
         volumes:
-            - ../rrrobot_ws:/app/rrrobot_ws
+            - ../src/rrrobot_ws:/app/rrrobot_ws
+            - ../src/ariac_ws:/app/ariac_ws
         # Set DISPLAY variable and network mode for GUIs
         environment:
             - DISPLAY=${IP_ADDRESS}:0.0
         # Set working directory in container to app folder
-        working_dir: /app/rrrobot_ws
+        working_dir: /app
         hostname: "rrrobot-env"
         networks:
             - ros
diff --git a/src/ariac_ws/src/CMakeLists.txt b/src/ariac_ws/src/CMakeLists.txt
new file mode 100644
index 0000000..e5cafb2
--- /dev/null
+++ b/src/ariac_ws/src/CMakeLists.txt
@@ -0,0 +1,67 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()