diff --git a/scripts/setup_auto_sourcing.bash b/scripts/setup_auto_sourcing.bash
index 435a4c37..da0f7fc6 100755
--- a/scripts/setup_auto_sourcing.bash
+++ b/scripts/setup_auto_sourcing.bash
@@ -22,12 +22,12 @@ if [[ " ${negative_answers[*]} " =~ " ${user_answer} " ]]; then
     print_and_exit "Aborting the setup of autosourcing. Exiting..."
 fi
 
-rtw_file=".ros_team_ws_rc"
+rtw_file="rtwrc"
 rtw_file_location=~/"$rtw_file"
 template_location="$FRAMEWORK_BASE_PATH/templates/$rtw_file"
 echo "Copying ${rtw_file} to your home folder."
 if ! [ -f "$HOME/$rtw_file" ]; then
-    cp "${template_location}" ~/.
+    cp "${template_location}" ~/.ros_team_workspace/.
 else
     echo ""
     notify_user "${rtw_file} already exists."
@@ -63,7 +63,8 @@ echo "Updating your .bashrc file."
 bashrc_location=~/.bashrc
 if ! ( grep -q '\..*\.ros_team_ws_rc' $bashrc_location || grep -q 'source.*\.ros_team_ws_rc' $bashrc_location ); then
     echo "" >> $bashrc_location
-    echo "# automatically source RosTeamWorkspace if the .ros_team_ws file is present in your home folder." >> $bashrc_location
+    echo "# Automatically source RosTeamWorkspace if the ~/.ros_team_workspace/rtwrc file is present in your home folder." >> $bashrc_location
+    echo "# Some ROS 2 related varialbes are set in this configuration file, check if you have any configuration-related issues." >> $bashrc_location
     echo "if [ -f ~/.ros_team_ws_rc ]; then" >> $bashrc_location
     echo "    . ~/.ros_team_ws_rc" >> $bashrc_location
     echo "fi" >> $bashrc_location
diff --git a/templates/.ros_team_ws_rc b/templates/rtwrc
similarity index 55%
rename from templates/.ros_team_ws_rc
rename to templates/rtwrc
index 3769ea6d..28183d35 100644
--- a/templates/.ros_team_ws_rc
+++ b/templates/rtwrc
@@ -1,31 +1,36 @@
 #!/bin/bash
 
-# if you did not install ros under /opt/ros/<ros-distro>/ then you have to set the ALTERNATIVE_ROS_<ROS_DISTRO>_LOCATION
-# to point to your installation folder e.g. ALTERNATIVE_ROS_ROLLING_LOCATION=/home/user/my_installation_folder/rolling/
-# For other ros versions simply add ALTERNATIVE_ROS_<ros-distro>_LOCATION e.g. ALTERNATIVE_ROS_FOXY_LOCATION
-ALTERNATIVE_ROS_ROLLING_LOCATION=""
-
+# Setup for RTW-Pro version
 TEAM_LICENSE="Apache License 2.0"
-
 TEAM_REPOSITORY_SERVER="https://github.com"
-
 TEAM_PRIVATE_CONFIG_PATH=""
 
+# if you did not install ROS under /opt/ros/<ros-distro>/ then you have to set the ALTERNATIVE_ROS_<ROS_DISTRO>_LOCATION
+# to point to your installation folder e.g. ALTERNATIVE_ROS_ROLLING_LOCATION=/home/user/my_installation_folder/rolling/
+# For other ros versions simply add ALTERNATIVE_ROS_<ros-distro>_LOCATION e.g. ALTERNATIVE_ROS_FOXY_LOCATION
+# This also enables support for older ROS 2 version within docker (for example useful to run `rviz2` outside of the container)
+export ALTERNATIVE_ROS_FOXY_LOCATION="/opt/ros/rolling"
+export ALTERNATIVE_ROS_GALACTIC_LOCATION="/opt/ros/rolling"
+# export ALTERNATIVE_ROS_HUMBLE_LOCATION="/opt/ros/rolling"
+export ALTERNATIVE_ROS_IRON_LOCATION="/opt/ros/rolling"
+
 # set this to the location of RosTeamWorkspace
 source <PATH TO ros_team_workspace>/setup.bash
 
 # User specific setup/variables
+# DDS setup
+#export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+#export CYCLONEDDS_URI=~/workspace/cyclonedds.xml
 
-#export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>ADD_HERE_INTERFACE_NAME</NetworkInterfaceAddress></General></Domain></CycloneDDS>'
-
-export ROS_AUTOMATIC_DISCOVERY_RANGE="LOCALHOST"  # Doc: https://docs.ros.org/en/rolling/Tutorials/Advanced/Improved-Dynamic-Discovery.html
-export ROS_DOMAIN_ID=0 # Set your Domain ID if you are in a network with multiple computers
+export ROS_DOMAIN_ID=28
+export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST  # Doc: https://docs.ros.org/en/rolling/Tutorials/Advanced/Improved-Dynamic-Discovery.html
+#export ROS_STATIC_PEERS=<Your Robot>;<Your b.controled Control Box IP>
 
 # needed to execute cppcheck version 2.7 used in pre-commit
 export AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=true
 
 # Logging setup
-# export RCUTILS_LOGGING_CONFIG_FILE="/home/deniss/workspace/ros2_logging_config"
+# export RCUTILS_LOGGING_CONFIG_FILE="~/.ros/ros2_logging_config"
 #export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"  # Custom logging format
 export RCUTILS_COLORIZED_OUTPUT=1
 #export RCUTILS_LOGGING_USE_STDOUT=1  # force all logging output to stdout